Patent ID: 7093383
Filing Date: 2006-08-22
Classification: B25J,B66F,E02F,G05B

Abstract:
1. A method for controlling movement of a load carrier that is pivotally attached to a boom which is pivotally mounted on a chassis, wherein a linear load carrier hydraulic actuator produces movement of the load carrier with respect to the boom and a linear lift hydraulic actuator produces movement of the boom with respect to the chassis, the method comprises: receiving a boom velocity command designating a desired linear velocity for the lift hydraulic actuator; sensing a position of the lift hydraulic actuator; sensing a position of the load carrier hydraulic actuator; deriving a setpoint position for the load carrier in response to the position of the lift hydraulic actuator and the position of the load carrier hydraulic actuator; producing an error value in response to deviation of an actual load carrier position from the setpoint position; producing a load carrier velocity command based on the boom velocity command and the position of the lift hydraulic actuator; and employing the load carrier velocity command and the error value to generate an adjusted load carrier velocity command; and operating the load carrier hydraulic actuator in response to the adjusted load carrier velocity command.