Method of controlling a machine with redundant parallel actuation, associated control device and machine
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United States of America Patent
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Jan 17, 2017
Grant Date -
Aug 7, 2014
app pub date -
Aug 8, 2012
filing date -
Aug 12, 2011
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Abstract
A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.
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