Patent ID: 9573272
Date: 2017-02-21
CPC Classifications: B23P,B25J,B64F,G05B,Y10T

Claim:
1. A method for operating a positioning system, the positioning system comprising a plurality of positioners each including at least one manipulator, wherein a respective base coordinate system is associated with each of the manipulators, the method comprising: grasping a single component jointly with each of the manipulators of the plurality of positioners, synchronously manipulating the component with the manipulators while jointly grasping the component with the manipulators, determining a position and an orientation of the component in an initial situation, determining a position and an orientation of the component in a target situation, determining reference movement parameters, the reference movement parameters defined relative to a coordinate system associated with the component and describing a movement of the component from the position and the orientation in the initial situation to the position and the orientation in the target situation, transforming the reference movement parameters into the respective base coordinate system of each of the manipulators, and operating the manipulators based on the respective transformed reference movement parameters.