Patent ID: 7819183
Filing Date: 2010-10-26
Classification: B25J,E21B,G05B

Abstract:
1. Well bore servicing equipment, comprising: a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string; and a controller to receive a work string trajectory input from a user interface and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the work string trajectory input comprises at least a first work string target position and a first work string target velocity, wherein the first manipulator comprises a first hydraulic actuator, wherein the controller comprises a drive observer that provides an estimated actuator parameter feedback value that is smoothed and substantially zero time lagged based on sensor information received from the actuator, and wherein the controller automatically controls the first manipulator based in part on the estimated actuator parameter feedback value.