Motion control device for an articulated fluid-loading arm, acquisition and calculation method and device therefor, and articulated fluid loading arm

Abstract

Device for controlling the movement of one of the ends of an articulated fluid loading arm from a storage position to a target pipe (35) and from this target pipe (35) to the storage position, said arm comprising a fluid transfer line equipped at this end with a coupling system (26), the latter being adapted to be coupled to the target pipe (35) for the transfer of the fluid, which device comprises actuators (27-29) for controlling the movement of the arm in space from the storage position until the coupling system (26) is positioned in front of the target pipe (35) for its coupling to the latter, and from the target pipe (35) to the storage position. This device includes calculation means (41) adapted for: —monitoring in real time the movement of the coupling system (26); —generating, in real time, from the last determined position of the coupling system (26) a trajectory of movement of the coupling system (26) in the direction of the target pipe (35) or the storage position, based on a dynamic jerk-limited motion law; —calculating command instructions to be given to each of the actuators (27-29) in order to control the movement of the coupling system (26) based on this motion law.

Dependencies are inferred from the claim text.