Patent ID: 6457792
Filing Date: 2002-10-01
Classification: B43L,G01D

Abstract:
In a whiteboard printer suitable for creating an image on a substantially vertical display surface, the whiteboard printer comprising an end effector adapted to perform an action, an effector platform that receives and carries the end effector, means for moving said effector platform consisting of a first effector platform positioner that moves the effector platform in a first variable direction in a vertical plane, and a second effector platform positioner that moves the effector platform in a second variable direction in the vertical plane, and a coordinator that controls the first and second effector platform positioning to move the effector platform in a desired direction in the vertical plane, a method for operating the whiteboard printer comprising: determining if an end effector action is required;if an end effector action is required, performing the end effector action at a current position in the vertical plane of the effector platform; if an end effector action is not required, determining if a new position in the vertical plane is specified for the effector platform; and if a new position is specified for the effector platform, moving the effector platform to the new position in the vertical plane by performing the steps consisting of: determining a current first length from a distance from a current position for the effector platform to the first effector platform positioner; determining a current second length from a distance from a current position for the effector platform to the second effector platform positioner; determining next first and second lengths corresponding to distances from the first and second effector platform positioners, respectively, to a next position for the effector platform; and adjusting the current first and second lengths to the next first and second lengths to thereby move the effector platform from the current position to the next position.