Patent ID: 11958245
Assignee: CONTINUOUS COMPOSITES INC.
Field: Other special machines (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 9:
10. A system, comprising:
an end effector;
a support configured to move the end effector, the support having:
a first link;
a second link rotationally connected to the first link at a joint;
a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link;
a transmission operatively positioned between an output of the motor and the second link, the transmission being configured to adjust a speed-to-torque ratio of power transmitted from the motor to the second link; and
a sole encoder associated with the joint and configured to generate a signal indicative of an angular position of the first link relative to the second link; and

a controller in communication with the sole encoder and the motor and having a map stored in a memory relating a current profile for the motor to a desired motion of the support, the controller being configured to:
direct the current profile to the motor based on a predetermined discharge path of a material from the end effector; and
trim the current profile based only on the signal.