Patent Document ID: 4763276
Application ID: 06842173
Patent Flag: 1

Claim One:
1. A method for refining original command signals which are intended, by conversion to corresponding pair variable signals, to place, in response to said pair variable signals, a robot having mechanical linkage and joint actuators at a desired position and orientation (pose), comprising the steps of: a. identifying actual system parameters of said robot which describe said mechanical linkage and joint actuators of said robot; b. predicting, through the utilization of said actual system parameters and said original command signals, a predicted anticipated pose of said robot which would actually be obtained as a result of said original command signals; c. calculating, as a function of the difference between said desired pose and said predicted anticipated pose, corrected command signals required to minimize the difference between said desired pose and said predicted anticipated pose; and d. employing said corrected command signals to place said robot in said desired pose.