Velocity-Based End Effector Control for Work Machine Boom Assemblies
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Solution Overview
Problem
The control of end effectors on work machines, such as feller bunchers, is complex due to the changing geometry of multiple booms, making precise movement difficult for operators without extensive training.
Innovation Solution
A control system that uses sensors to determine target actuator velocities based on operator input commands, allowing for intuitive control of end effector movement by converting velocity input commands into corresponding actuator movements, thereby simplifying the control of complex boom assemblies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional control systems with multiple pivoting booms and actuators are used, then the end effector can be moved to various positions, but the control complexity increases significantly requiring extensive operator training
Solution Approach 1:
A control system intermediary (controller) is introduced that receives simple velocity commands from the operator and automatically calculates the complex actuator velocities needed. The controller acts as a mediator that translates intuitive operator input into the coordinated multi-actuator commands required by the boom assembly, eliminating the need for operators to understand the complex relationships between multiple actuators and end effector movement.
Solution Approach 2:
The patent replaces direct mechanical control (where operators would need to manually coordinate multiple actuators) with an electronic control system that uses sensors and a controller to automatically manage the complex kinematics. The mechanical complexity of coordinating multiple actuators is substituted with an electronic control architecture that handles the computational complexity internally.
2Adaptability or versatility
If conventional control systems requiring manual coordination of multiple actuators are used, then the boom assembly can be controlled, but the ease of operation decreases due to the complex geometry relationships
Solution Approach 1:
The control system serves as an intermediary that shields the operator from the complex geometry relationships. Instead of requiring the operator to understand how actuator movements translate to end effector positioning through complex boom geometry, the controller automatically handles these calculations, presenting a simplified interface where operators only need to specify desired end effector velocity.
Solution Approach 2:
Sensors provide feedback on the current state of the boom assembly (positions and orientations), which the controller uses to calculate appropriate actuator velocities. This closed-loop feedback mechanism ensures that the complex geometry relationships are continuously monitored and compensated for, maintaining ease of operation while achieving precise boom movement.
3Ease of operation
If velocity-based control with sensors and controllers is implemented, then the ease of operation improves with intuitive control, but the device complexity increases due to additional sensors and control electronics
Solution Approach 1:
The patent substitutes mechanical control complexity (manual coordination of multiple actuators) with electronic control complexity (sensors and controllers). While this adds electronic components, it eliminates the need for complex mechanical linkages and manual coordination mechanisms, trading mechanical simplicity for electronic intelligence that ultimately provides easier operation.
4Manufacturing precision
If precise control of end effector movement is achieved through velocity-based control, then manufacturing precision improves, but the loss of time increases due to system calculations
Solution Approach 1:
The control system performs preliminary calculations by continuously monitoring sensor feedback and pre-computing the relationship between end effector velocity commands and actuator velocities based on the current boom configuration. This preliminary action ensures that when velocity commands are issued, the corresponding actuator velocities are immediately available, minimizing calculation delay while maintaining precision.
Solution Approach 2:
The system maintains continuous operation by using sensors to constantly monitor the boom assembly state and the controller to continuously calculate appropriate actuator velocities. This continuous useful action eliminates interruptions for recalculation, ensuring that precision is maintained throughout the movement without time loss from periodic recalculations or corrections.
Data Source
AI summary
A control system for moving an end effector of a work machine may include sensors for determining current orientations of components of a boom assembly connected to the work machine. A controller may be configured to receive, via an input interface, signals corresponding to a velocity input command for a desired movement of the end effector. The controller may determine, based upon the velocity input command and signals from the sensors, at least one target velocity for one or more actuators for the boom assembly. Commanding the actuators to move with the at least one target velocity may cause the end effector to move with an aggregate velocity corresponding to the desired movement of the end effector, as indicated by the velocity input command.