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:
May. 29, 2012
Filed:
Mar. 02, 2006
Markus Rohrauer, St. Florian, AT;
Rainer Obwaller, Wels, AT;
Markus Rohrauer, St. Florian, AT;
Rainer Obwaller, Wels, AT;
TGW Mechanics GmbH, Wels, AT;
Abstract
The invention describes a method and a position control system (″) for controlling operation of a computer-controlled load handling device, with a displacement drive for a displacement unit, a lift drive for a vertically displaceable lifting unit and an actuator drive for a loading and unloading device, and a computer predefines a target position for the displacement and lifting units and loading and unloading device and controls the travel to it. Time-minimized reference trajectories are set first of all, optimized with respect to the maximum permissible loads of the load handling device and with respect to the displacement between the start and target positions, and from these, the desired trajectories are calculated for desired positioning forces (F, F, F) of the displacement and lifting units and the loading and unloading. The displacement, lifting and actuator drives receive the desired positioning forces (F, F, F) in timed cycles and are controlled by them as they move along the desired trajectories, and dynamic deformations of the load handling device which occur during the acceleration and deceleration phase are reduced to zero by the instant the deceleration phase ends on the basis of the desired trajectories during the automatic control operation.