Patent ID: 11891893
Assignee: ABI ANLAGENTECHNIK-BAUMASCHINEN-INDUSTRIEBEDARF MASCHINENFABRIK UND VERTRIEBSGESELLSCHAFT MBH
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 12:
13. A method for multi-dimensional, free positioning of a positioner of a civil engineering device, comprising:
(a) providing the civil engineering device comprising a carrier device, a kinematic chain comprising a plurality of movement links movable relative to one another by way of a plurality of joints and linear adjusters, the positioner, wherein the positioner is connected with the carrier device by way of the plurality of movement links, and at least six actuators connected with the plurality of movement links or the linear adjusters for changing a respective position or orientation of each of the at least six actuators;
(b) determining a displacement path based on a target position of the positioner;
(c) determining using an algorithm based on inverse kinematics individual joint positions of individual joints of the plurality of joints and linear positions of the linear adjusters based on the displacement path to implement actuator movements required for the individual joint positions and the linear positions; and
(d) subsequently controlling individual actuators of the at least six actuators to carry out the actuator movements determined.