Patent ID: 8965582
Filing Date: 2015-02-24
Classification: B25J,G05B

Abstract:
1. A real-time method for controlling a display system comprising: providing a display system arranged to display an image of a movable object, the display system including a processor operatively coupled to a memory and to a display, wherein the image of the movable object is represented by one or more elements coupled by one or more joints, the joints having at least one variable parameter (dq), the elements having a trajectory (dx) which is controlled by the joints, wherein the trajectory (dx) is related to the variable parameters (dq) by a variable matrix (J); defining, using said processor, a control transfer matrix (K) relating the variable parameters (dq) to the trajectory (dx), and generating, using said processor, values of (dq) for each of a series of samples, wherein for each of the samples the values of (dq) are generated using the control transfer matrix (K) and a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between a desired trajectory (dxd) and a current trajectory (dx);