Patent ID: 7219590

Claim:
A method for controlling the inclination angle and rotation angle of a body comprising: controlling, using a rotary actuator, the angular position of a displacement member about an axis of rotation of the rotary actuator over a continuous range of angular positions; and controlling, using a linear actuator, the linear position of the displacement member relative to the axis of rotation of the rotary actuator along a linear axis over a continuous range of linear positions, the angular position and the linear position of the displacement member being relative to the axis of rotation of the rotary actuator, the displacement member being pivotably coupled to a support shaft of the body at a first position of the support shaft and the support shaft being pivotably coupled to the base at a second position of the support shaft such that the angular position and linear position of the displacement member is translated to a corresponding rotation angle and inclination angle in the support shaft, the axis of rotation of the rotary actuator intersecting the support shaft at the second position of the support shaft over the continuous range of angular positions and over the continuous range of linear positions of the displacement member.