Patent ID: 7431632

Claim:
A control system for controlling operation of a processing machine for processing a workpiece, wherein the processing machine has a gantry unit having x, y and z translational degrees of freedom, a gimbal unit mounted on the gantry unit and having x, y and z rotational degrees of freedom, a main gripper unit mounted on the gimbal unit for holding a workpiece during processing, and a plurality of spaced workstations for manipulating or processing the workpiece, the control system comprising: a controller programmed with a plurality of program modules for controlling different operations of the processing machine; means for setting up at least one desired trajectory of a workpiece from a storage tray through a selected series of end positions at workstations, the trajectory being associated with a selected workpiece style; means for setting up a series of parameters for processing each style of workpiece, the parameters comprising grinding force parameters and motor speeds; means for setting up a series of workpiece locations on the storage tray; means for controlling gantry and gimbal motors to move the main gripper unit to a first position over a workpiece on the storage tray; means for controlling the gantry motors and main gripper unit to move to the workpiece, grip the workpiece, and move the workpiece from the tray; means for controlling the gantry and gimbal motors to move the workpiece along the desired trajectory and stop at each end position; means for controlling the tool at the workstation and the gantry and gimbal motors to carry out a processing operation at the workstation before continuing to move the workpiece along the desired trajectory to the next workstation; means for moving the workpiece to an end position after the workpiece has been processed at the last workstation in the series; means for controlling the main gripper unit to release the workpiece; and means for controlling the gantry, gimbal and main gripper units to move to the next workpiece position on the tray and to pick up the next workpiece to be processed according to the instructions associated with the style stored for that workpiece.