Process for measuring and controlling extension of scissor linkage systems

摘要

A process for measuring and controlling the position and velocity of one moving part of a scissor lift device through the measurement of another moving part of the scissor lift device. The position and velocity of the moving part (e.g., a platform of the scissor lift device) are computed using kinematics and Jacobian functions that define the position and velocity in terms of the measured degree of freedom. The process provides continuous, closed-form computation of the position and velocity of a platform carried by a scissor linkage mechanism during the latter's extension, which enables applications for motion sensing and control of linkage extension types of systems.

主权项

1. An automated method, performed by a control system of a scissor linkage system, for controlling the position of a platform which is movable only along a first axis by an actuatable scissor linkage mechanism comprising an actuator and a link coupled to the actuator, the link having one end that is movable only along a second axis orthogonal to the first axis during operation of the actuator, comprising the following steps:
receiving data representing a target platform position along the first axis; calculating an actuator target position as an inverse kinematics function of said target platform position; and controlling the actuator to move to said actuator target position, which causes the one end of the link to move along the second axis and the platform to move along the first axis.