Patent ID: 8983660
Filing Date: 2015-03-17
Classification: B25J,H01L,Y10S

Abstract:
1. A robot comprising: a controller; one or more actuators, wherein the movement of the one or more actuators is initiated and ceased by the controller; one or more encoders configured to track the position of the one or more actuators and further configured to deliver the position of the one or more actuators to the controller; and one or more mechanical components configured to transform the movement of the one or more actuators into a desired movement of the robot, wherein at least one of the mechanical components is an end effector, and wherein a frequency of a control cycle of the controller is 50 times or more greater than a known vibrational frequency of a vibrational motion of the end effector or one or more mechanical components during the desired movement of the robot, wherein the control cycle includes comparing an encoder position determined from one or more of the encoders to a theoretical position as determined by a theoretical motion profile and applying a signal to a corresponding one or more of the actuators with the controller to correct for a deviation between the encoder position and the theoretical position.