Patent ID: 7295942
Filing Date: 2007-11-13
Classification: B25J,G05B

Abstract:
1. A method for controlling an orienting system, the orienting system comprising at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means, the method comprising the steps of: (a) evaluating pre-action output information of said sensor means in order to detect the position of a pattern in the input space of the sensor means; (b) deciding on a targeted post-action position of said pattern in the input space of said sensor means; (c) defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function; (d) orienting the sensor means by the actuator means according to the defined command in order to carry out an orienting and/or positioning action; (e) detecting the real post-action position of the patterns in the input space of said sensor means; (f) detecting external motion of the pattern; (g) adapting the mapping function used in said defining step (c); and repeating steps (a) to (g) using the respectively adapted mapping function; wherein an output signal from the external-motion detection device is used to control at least step (g).