Position control of linkage mechanisms - using comparison of potentiometer outputs on tracer linkage and main system

摘要

The position control of a mechanic linkage in response to signals generated from a model tracer linkage is effected by a closed loop system based upon potentiometer position sensors. For a manipulator, a tracer moder comprising two links has potentiometers located at each pivot point. The output of a potentiometer is used as a reference and is compared with the output of a similar potentiometer on the main manipulator. The comparison is performed by two differencing amplifiers operating regulating valves to control a 4/2 directional control valve. The main manipulator actuator moves until the difference between potentiometer settings is zero, thus indicating equivalence of the tracer linkage and manipulator position.