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:
Apr. 05, 2016
Filed:
Jun. 22, 2011
Xiaogang Yi, Changsha, CN;
Xiang Zhou, Changsha, CN;
Antao Chen, Changsha, CN;
Qiulian Deng, Changsha, CN;
Xiaogang Yi, Changsha, CN;
Xiang Zhou, Changsha, CN;
Antao Chen, Changsha, CN;
Qiulian Deng, Changsha, CN;
Hunan Sany Intelligent Control Equipment Co., Ltd., Changsha, CN;
Sany Heavy Industry Co., Ltd., Changsha, CN;
Abstract
A control method of a mechanical articulated arm, wherein at least two tilt sensors are arranged in different positions of the articulated arm, comprising: calibrating zero positions of tilt sensors when articulated arm does not have elastic deformation, setting position of tail end of articulated arm as point P and point P' before and after elastic deformation of articulated arm, and selecting point R on the articulated arm; detecting angles of two different positions of the articulated arm with the tilt angles before and after the elastic deformation, obtaining the angle offset Δθ of the articulated arm due to the elastic deformation, and calculating the length parameter Land the angle parameter θof the articulated arm after deformation based on the lengths of OR and RP′; and controlling the action of the articulated arm according to position parameters X′ and Y′ (to the point P′) obtained according to length parameter Land angle parameter θ.