Description:
Robotics used in the manufacturing industry cannot be aptly applied in
machinery operations that require complex operations and variable tasks or a
changing environment that is unstructured and requires on-going adjustment.
University of Nevada, Reno's Coordinated Joint Motion Control (JMC)
architecture allows for artificial intelligence enhanced computerized control of
a variety of machines from small robotics to heavy equipment such as large
excavators. Using the novel JMC architecture, the human operator retains the
master control of the main motion parameters, while the computer coordinates the
repetitive/iterative movement. The operator can make adjustments to the motion
in real time, as needed, to accommodate rapidly-changing environmental
conditions.
The JMC architecture also includes error correction mechanisms to compensate
for the mechanical inefficiencies that may arise from imperfect mechanical
sensors, actuators and controls in hydraulics and articulated heavy machinery.
These mechanisms effectively map the digital domain to the real world
application.
The JMC architecture supports joint-link hydraulic controls, electrical
robotic manipulators or even virtually controlled devices. It can be used with
electrical, hydraulic or pneumatically powered machinery.
The architecture improves loading efficiency and cycle times reducing energy
requirements. Unburdening repetitive tasks from the human operator helps reduce
fatigue and improves safety. Ease of use of the equipment is improved and as a
result operator training and learning time is reduced. A working prototype has
been developed using a Bobcat 435 excavator. Preliminary field trials have
shown:
17% reduction in the number of bucket loads
26% reduction in fuel
consumption
39% reduction in loading time
Potential Applications
- Material processing, Earthmoving and Mining
- Loading and Packing
- Construction
Opportunity
Available for non-exclusive or exclusive licensing. UNR is seeking
expressions of interest from parties interested in collaborative research to
further develop, evaluate, or commercialize this technology.
IP Status
UNR ID#: UNR02-015
Coordinated Joint Motion Control System
US Patent
#s: 7,457,698; 8,145,355
Coordinated joint motion control system with
position error correction
US Patent: 8,065,060
Control method and system
for hydraulic machines employing a dynamic joint motion model
US Patent:
8,065,037