Patent ID: 7324907
Filing Date: 2008-01-29
Classification: B25J,G05B

Abstract:
1. A method for controlling an orienting/positioning system, the orienting/positioning system comprising at least a sensor and an actuator for controlling at least one of an orienting and a positioning action of the sensor, the method comprising the steps of: (S1) evaluating pre-action output information of the sensor in order to detect a pre-action position of a pattern in an input space of the sensor; (S2) determining a targeted post-action position of the pattern in the input space of the sensor; (S3) defining a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function; (S4) orienting the sensor by the actuator according to the defined command in order to carry out the orienting action; and (S5) detecting a real post-action position of the pattern in the input space of the sensor; and (S6) adapting the mapping function used in step S3 based on any difference of the real post-action position and the targeted post-action position of the pattern in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function, wherein steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.