Patent ID: 7856282
Filing Date: 2010-12-21
Classification: B25J,B66F,E02F,G05B

Abstract:
1. A method for controlling movement of a member wherein an angle of the member with respect to a reference is alterable by a first actuator and a length of the member is alterable by a second actuator, the method comprises: producing a command which designates a desired velocity that a point on the member is to travel along a desired substantially straight line path; transforming the command into a desired angular velocity and a desired length velocity for the member, by utilizing the length of the member which is derived by sensing a dimension of the second actuator and converting that dimension into the length of the member; converting the desired angular velocity for the member into a desired first velocity of the first actuator; operating the first actuator in response to the desired first velocity to alter the angle of the member; and operating the second actuator based on the desired length velocity to alter the length of the member.