METHOD OF CONTROLLING DISPLACEMENT OF WORKING MEMBER OF CARGO LIFTING APPARATUS Russian patent published in 1994 - IPC

FIELD: working member motion control systems in cargo lifting apparatus. SUBSTANCE: in order to simplify method of controlling motion of a working member along a rectilinear path by combined control of speeds of angular motion of the arm 13 and of the forearm 15 of a manipulator in such a way, that to minimize an error between current and final values of angles between a radius-vector, defining a position of the working member in a coordinate system, whose zero point is coincided with a supporting joint assembly 0 of the manipulator, and a tangential line relative to the motion path of the working member mounting point; the combined controlling is being performed at constant ratio of an angular velocity of the forearm 15 rotation and of the angular velocity of the arm 13 rotation, being equal to two. A value of the arm rotation angle for rectilinear motion of the working member along the rectilinear path AB and a dimension of the forearm are being determined according to expressions, given in description of the invention. EFFECT: simplified control system. 1 cl