Patent ID: 7143682
Filing Date: 2006-12-05
Classification: B66C,E04G

Abstract:
1. A large-size manipulator comprising: (i) a boom made up of several segments and arranged on a frame said boom having a slewing track ring, so that by means of a driving unit, the boom is rotated about a substantially vertical axis of rotation, where the boom segments, by means of further driving units, is swivelled with respect to each other and with respect to the slewing track ring about substantially horizontal and mutually parallel axes, (ii) a distant steering system having a steering organ to operate the driving units and to set a desired position of the driving units or the boom segments and the slewing track ring, (iii) a control system having at least one monitoring unit to ascertain a parameter that describes a disturbance condition of at least one boom segment that causes the boom segments to deflect from the position set by the steering organ, or causing them to vibrate, (iv) at least one determination unit determining the load that acts on a driving unit in opposition to the position set by the steering organ wherein, the control system collaborates with the distant steering system to assure that at least one driving unit is controlled in such a manner that an operation of the driving unit minimizes the deviation from the set position of the boom segments and that the vibration of the boom segments caused by the disturbance condition is damped, and (v) wherein a monitoring unit determines a parameter describing a disturbance condition in advance, before the disturbance condition occurs at a position where the effect of the disturbance is compensated by the control system so that the control system imposes a position of the driving unit that counteracts the disturbance and in that the monitoring unit determines the parameter characterizing the disturbance condition by means of sensors on one of said boom segments that is positioned closer to the slewing track ring than the boom segment that is to be corrected.