The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 05, 2002
Filed:
Feb. 26, 2001
Mats Nilsson, Solna, SE;
Bohao Liao, Sollentuna, SE;
DeLaval Holding AB, Tumba, SE;
Abstract
A method and device ( ) for controlling the movement of a movable part such as a robot arm ( ) in a milking robot ( ). A control ( ) controls the movement of the arm ( ) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd) A detector ( ) detects the actual position of the robot arm ( ) and transmits signals corresponding to the actual position to the control ( ). The predicted position (Pxp, Pyp, PyP), that the robot arm ( ) will pass through as it moves from the actual position to the desired position our model (S). The control ( ) makes a comparison (S) of the actual positions of the arm ( ) against to the predicted positions, and the movement of the robot arm ( ) is modified if its actual position at any time differs by more than a predetermined amount from the predicted position at the same time.