Patent ID: 8392002

Claim:
A method of generating a controlled object trajectory in an automated machine, the automated machine comprising at least one controller, a first mechanism, and a second mechanism attached to and moved by the first mechanism, all operatively coupled to each other, wherein the object is attached to and moved by the second mechanism, the method comprising: (a) in the at least one controller: interpolating an object trajectory to form an ideal vector T in a first coordinate set and a command vector M in a second coordinate set; low pass filtering said command vector M to determine a filtered command vector M′ and a filtered trajectory vector T′ in the first coordinate set; and computing a vector subtraction of the filtered trajectory vector T′ from the ideal vector T, the vector subtraction resulting in a mechanism trajectory vector T h ; (b) communicating the filtered command vector M′ to the first mechanism and the mechanism trajectory vector T h to the second mechanism; and (c) moving each respective mechanism according to the command vector M′ and trajectory vector T h so that the object follows the object trajectory, wherein the low pass filtering further comprises performing a forward kinematic transformation on the filtered command vector M′ to determine the filtered trajectory vector T′.