Inverse control of multi-axis systems
Serial kinematics are found in many applications, such as excavators, cranes, concrete pumps and robots. When inverse control is used in such systems, the desired path of a particular machine point is specified rather than the cylinder motions being specified directly. The required cylinder strokes are calculated automatically on the basis of the trajectory.
To enable suitable drive components and closed-loop control structures to be configured perfectly, the interrelationships between the trajectory, drive speeds, forces and drive powers are determined in numerous studies. Further analyses are performed for the stability behaviour in various system conditions.
The videos show (tongue-in-cheek) examples of applications in inverse kinematics.