Patent ID: 7826924

Claim:
A Standalone Intelligent Autoloader with Modularization Architectures, comprising: a. A robotic arm further having multiple joints and sensor and controlled by multiple actuators implemented by DC motors; b. A duplication tower further having an embedded duplication control board and multiple writer drives; c. A control and power unit further having an embedded motion control board and a communication channel between said duplication tower and said embedded motion control board; d. A platform having disk stacks, user interface and geometry datum plane and a pre-designed self-adaptive control algorithm further consisting of a Motion Strategy Database, and four logical process-modules of Initial Process, Motion Planning Process, Motion Generating Process and Motion Monitor Process, wherein the orientation and displacement of the robotic arm, as control parameters used and stored in the Motion Strategy Database, are calculated by the integral of angular and translational velocity, respectively, by specifying the duty cycle in discrete time domain in the formula, p ⁡ ( T k + 1 ) = a ⁢ ∑ i - 0 ~ k ⁢ ⁢ f ⁡ ( c ⁡ ( T i ) ) ⁢ ( T i + 1 - T i ) , where p(T k+1 ) is the displacement at time step k+1, a the constant ratio; wherein the sensors are either joint sensors to sense position and acceleration/deceleration, or end-point sensors to sense the physical interaction between the gripped disk and the environment.