Patent ID: 8065037
Filing Date: 2011-11-22
Classification: G05B

Abstract:
1. A control method for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm and comprising a support, multiple links, an end effector, the end effector being a work implement supported by the links for movement relative to the support, multiple joints connecting the multiple links one to another, to the support and to the end effector, each joint being movable to different joint positions to effect relative movement of the members connected by the respective joint, and multiple controllable actuators to effect the joint movements wherein the method employs a control system comprising a number of selectable virtual machine kinematics configurations providing end effector trajectory families for performing different tasks, an operator interface comprising operator input devices, optionally joysticks, the operator interface enabling an operator to select a desired virtual machine kinematics transformation for the movement of the end effector and to define a desired trajectory within the virtual kinematics of the end effector movement, and wherein the method comprises: the operator selecting a suitable kinematics transformation to perform a desired task; and the operator providing control signals relative to the transformed virtual machine in real time employing the operator interface input devices to define a desired trajectory; the control system controlling the actuators to move the end effector along the desired trajectory by: