Method and apparatus for controlling an automation along a predetermined path

Claim 1

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals representing first coordinate values of and a predetermined path velocity between two of the predetermined points for producing displacement signals, each displacement signal representing an incremental displacement along a predetermined path between the two predetermined points; c. means responsive to the input signals and the displacement signals for producing sets of first signals representing first coordinate values relative to the first coordinate system of end points of the incremental displacements; d. means responsive to the sets of first signals for generating sets of individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end points; and e. means responsive to the sets of individual control signals for operating the actuators in a coordinated manner at the predetermined velocity along the predetermined path between the two predetermined points.

Claim 2

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals representing first coordinate values of and a predetermined path velocity between two of the predetermined points for producing displacement signals, each displacement signal representing an incremental displacement along a predetermined path between the two predetermined points; c. means responsive to the input signals and the displacement signals for producing sets of first signals representing first coordinate values relative to the first coordinate system of end points of the incremental displacements; d. means responsive to the sets of first signals for generating sets of individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end points; and e. means responsive to the sets of individual control signals for operating the actuators in a coordinated manner at the predetermined velocity along the predetermined path between the two predetermined points.

Claim 7

An apparatus for controlling an element of a machine in response to input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing sets of displacement signals, each set of displacement signals representing incremental displacements along a predetermined path connecting two of the predetermined points; c. means responsive to the sets of displacement signals for producing a plurality of sets of first signals, said sets of first signals representing sets of first coordinate values relative to the first coordinate system of end points of the incremental displacements; d. means responsive to the plurality of sets of first signals for generating a plurality of sets of individual control signals, said sets of individual control signals representing sets of generalized coordinate values relative to the generalized coordinate system of the end points; and e. means responsive to the plurality of sets of individual control signals for operating the actuators in a coordinated manner to move the element of the machine at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 8

An apparatus for controlling an element of a machine in response to input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing sets of displacement signals, each set of displacement signals representing incremental displacements along a predetermined path connecting two of the predetermined points; c. means responsive to the sets of displacement signals for producing a plurality of sets of first signals, said sets of first signals representing sets of first coordinate values relative to the first coordinate system of end points of the incremental displacements; d. means responsive to the plurality of sets of first signals for generating a plurality of sets of individual control signals, said sets of individual control signals representing sets of generalized coordinate values relative to the generalized coordinate system of the end points; and e. means responsive to the plurality of sets of individual control signals for operating the actuators in a coordinated manner to move the element of the machine at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 9

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said apparatus, said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, and said machine havng a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing displacement signals, each displacement signal representing an incremental displacement along the predetermined path between the two predetermined points; c. means responsive to the input signals for producing direction number signals, each direction number signal having a magnitude representing the displacement along a coordinate component relative to the first coordinate system of the predetermiNed path between the two predetermined points and a sense representing the direction along said coordinate component; d. means responsive to the direction number signals and the displacement signals for producing sets of first signals representing first coordinate values relative to the first coordinate system of end points of the incremental displacements; e. means responsive to the sets of first signals for generating sets of individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end points; and f. means responsive to the sets of individual control signals for operating the actuators in a coordinated manner to move the element of the machine at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 10

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said apparatus, said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, and said machine havng a geometric configuration defining a generalized coordinate system independent of said first coordinate system, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing displacement signals, each displacement signal representing an incremental displacement along the predetermined path between the two predetermined points; c. means responsive to the input signals for producing direction number signals, each direction number signal having a magnitude representing the displacement along a coordinate component relative to the first coordinate system of the predetermiNed path between the two predetermined points and a sense representing the direction along said coordinate component; d. means responsive to the direction number signals and the displacement signals for producing sets of first signals representing first coordinate values relative to the first coordinate system of end points of the incremental displacements; e. means responsive to the sets of first signals for generating sets of individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end points; and f. means responsive to the sets of individual control signals for operating the actuators in a coordinated manner to move the element of the machine at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 12

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing a displacement signal representing an incremental displacement during a fixed time interval along the predetermined path connecting the two predetermined points; c. means responsive to the input signals and the displacement signal for producing a set of first signals representing a set of first coordinate values relative to the first coordinate system of an end point of the incremental displacement; d. means responsive to the set of first signals for generating a set of individual control signals representing a set of generalized coordinates values relative to the generalized coordinate system of the end point; e. means responsive to the set of individual control signals during the fixed time interval for operating the actuators in a coordinated manner to move the element to the end point at the predetermined path velocity; and f. means for iterating the operation of means b through e to move the element at the predetermined path velocity along the predetermined path connecting the two predetermined points.

Claim 13

An apparatus for controlling an element of a machine in response to input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing a displacement signal representing an incremental displacement during a fixed time interval along the predetermined path connecting the two predetermined points; c. means responsive to the input signals and the displacement signal for producing a set of first signals representing a set of first coordinate values relative to the first coordinate system of an end point of the incremental displacement; d. means responsive to the set of first signals for generating a set of individual control signals representing a set of generalized coordinates values relative to the generalized coordinate system of the end point; e. means responsive to the set of individual control signals during the fixed time interval for operating the actuators in a coordinated manner to move the element to the end point at the predetermined path velocity; and f. means for iterating the operation of means b through e to move the element at the predetermined path velocity along the predetermined path connecting the two predetermined points.

Claim 16

An apparatus for controlling an element of a machine in response to a program comprised of input signals representing a predetermined path velocity between and rectangular and angular coordinate values of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element and said machine having a geometric configuraton defining a generalized coordinate system, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing displacement signals, each displacement signal representing an incremental displacement along the predetermined path between the two predetermined points; c. means responsive to the input signals for producing

Claim 17

An apparatus for controlling an element of a machine in response to a program comprised of input signals representing a predetermined path velocity between and rectangular and angular coordinate values of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element and said machine having a geometric configuraton defining a generalized coordinate system, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for producing displacement signals, each displacement signal representing an incremental displacement along the predetermined path between the two predetermined points; c. means responsive to the input signals for producing

Claim 18

An apparatus for controlling the position of an element of a machine in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a plurality of actuators defining a plurality of axes of motion with at least one of said actuators defining an axis of rotation affecting the position of the element, and said apparatus being responsive to the input signals for controlling the machine in relation to a generalized coordinate system independent of the first coordinate system and defined by the geometric configuration of the machine, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for generating sets of first signals representing sets of intermediate coordinate values relative to the fIrst coordinate system of intermediate points having a locus defining the predetermined path between the two predetermined points; c. means responsive to the sets of first signals for producing sets of error signals, each set of error signals representing the difference between each set of intermediate coordinate values and a set of initial coordinate values in the first coordinate system; d. means responsive to the sets of first signals and the producing means for reducing the magnitude of the error signals below a predetermined magnitude by generating sets of individual control signals, each set of individual control signals representing a set of generalized coordinate values relative to the generalized coordinate system of the intermediate points; and e. means responsive to the sets of individual control signals for controlling the actuators to move the element of the machine along the predetermined path between the two predetermined points at the predetermined path velocity.

Claim 19

An apparatus for controlling the position of an element of a machine in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by the apparatus, said machine having a plurality of actuators defining a plurality of axes of motion with at least one of said actuators defining an axis of rotation affecting the position of the element, and said apparatus being responsive to the input signals for controlling the machine in relation to a generalized coordinate system independent of the first coordinate system and defined by the geometric configuration of the machine, the apparatus comprising: a. means for storing the input signals; b. means responsive to the input signals for generating sets of first signals representing sets of intermediate coordinate values relative to the fIrst coordinate system of intermediate points having a locus defining the predetermined path between the two predetermined points; c. means responsive to the sets of first signals for producing sets of error signals, each set of error signals representing the difference between each set of intermediate coordinate values and a set of initial coordinate values in the first coordinate system; d. means responsive to the sets of first signals and the producing means for reducing the magnitude of the error signals below a predetermined magnitude by generating sets of individual control signals, each set of individual control signals representing a set of generalized coordinate values relative to the generalized coordinate system of the intermediate points; and e. means responsive to the sets of individual control signals for controlling the actuators to move the element of the machine along the predetermined path between the two predetermined points at the predetermined path velocity.

Claim 26

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to the input signals, first coordinate values relative to the first coordinate system of an intermediate point along the predetermined path between the two predetermined points; c. generating, in response to the first coordinate values of the intermediate point, individual control signals representing generalized coordinate values of the intermediate point; d. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine to the intermediate point; and e. iterating steps (b) through (d) to cause the element to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 27

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to the input signals, first coordinate values relative to the first coordinate system of an intermediate point along the predetermined path between the two predetermined points; c. generating, in response to the first coordinate values of the intermediate point, individual control signals representing generalized coordinate values of the intermediate point; d. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine to the intermediate point; and e. iterating steps (b) through (d) to cause the element to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 28

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by the apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the step of: a. storing the input signals; b. computing, in response to input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, first coordinate values relative to the first coordinate system of an intermediate point along a predetermined path connecting the two predetermined points; c. generating, in response to the first coordinate values of the intermediate point, individual control signals representing generalized coordinate values of the intermediate point; d. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine to the intermediate point; e. iterating steps (b) through (d) to cause the element to move at the predetermined path velocity along the predetermined path connecting the two predetermined points; and f. iterating steps (b) through (e) to cause the element to move at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 29

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by the apparatus, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the step of: a. storing the input signals; b. computing, in response to input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, first coordinate values relative to the first coordinate system of an intermediate point along a predetermined path connecting the two predetermined points; c. generating, in response to the first coordinate values of the intermediate point, individual control signals representing generalized coordinate values of the intermediate point; d. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine to the intermediate point; e. iterating steps (b) through (d) to cause the element to move at the predetermined path velocity along the predetermined path connecting the two predetermined points; and f. iterating steps (b) through (e) to cause the element to move at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 30

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to the input signals, the magnitude of an incremental displacement along the predetermined path between the two predetermined points; c. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of the incremental displacement; d. generating, in response to the first coordinate values of the end point, individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end point of the incremental displacement; e. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and f. iterating steps (b) through (e) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 31

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to the input signals, the magnitude of an incremental displacement along the predetermined path between the two predetermined points; c. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of the incremental displacement; d. generating, in response to the first coordinate values of the end point, individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end point of the incremental displacement; e. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and f. iterating steps (b) through (e) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 32

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of Said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, the magnitude of an incremental displacement during a fixed time interval along a predetermined path between the two predetermined points; c. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of said incremental displacement; d. generating, in response to the first coordinate values of the end point, individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end point; e. applying, during the fixed time interval, the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; f. iterating steps (b) through (e) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points; and g. iterating the steps (b) through (f) to cause the element of the machine to move at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 33

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of Said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing, in response to input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, the magnitude of an incremental displacement during a fixed time interval along a predetermined path between the two predetermined points; c. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of said incremental displacement; d. generating, in response to the first coordinate values of the end point, individual control signals representing generalized coordinate values relative to the generalized coordinate system of the end point; e. applying, during the fixed time interval, the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; f. iterating steps (b) through (e) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points; and g. iterating the steps (b) through (f) to cause the element of the machine to move at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 35

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing direction numbers in response to the input signals, each direction number having a magnitude representing the magnitude of motion along a coordinate component relative to the first coordinate system of the predetermined path between the two predetermined points, and a sense representing the direction along the coordinate component; c. computing in response to the input signals the magnitude of the incremental displacement along the path; d. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of the incremental displacement and the direction numbers; e. producing individual control signals representing generalized coordinate values relative to the generalized coordinate system corresponding to the first coordinate values of the end point of the incremental displacement; f. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and g. iterating steps (c) through (f) to cause the elEment to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 36

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing direction numbers in response to the input signals, each direction number having a magnitude representing the magnitude of motion along a coordinate component relative to the first coordinate system of the predetermined path between the two predetermined points, and a sense representing the direction along the coordinate component; c. computing in response to the input signals the magnitude of the incremental displacement along the path; d. computing first coordinate values relative to the first coordinate system of an end point of the incremental displacement in response to the magnitude of the incremental displacement and the direction numbers; e. producing individual control signals representing generalized coordinate values relative to the generalized coordinate system corresponding to the first coordinate values of the end point of the incremental displacement; f. applying the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and g. iterating steps (c) through (f) to cause the elEment to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 37

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and rectangular and angular coordinate values of two predetermined points being connected by a predetermined path generated by the controller, said machine having a geometric configuration defining a generalized coordinate system and having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing in response to the inputs signals

Claim 38

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and rectangular and angular coordinate values of two predetermined points being connected by a predetermined path generated by the controller, said machine having a geometric configuration defining a generalized coordinate system and having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. computing in response to the inputs signals

Claim 41

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprisinG the steps of: a. storing the input signals; b. calculating direction numbers in response to the first coordinate values of the two predetermined points, each direction number having a magnitude representing the magnitude of motion along a coordinate component relative to the first coordinate system of the predetermined path between the two predetermined points, and a sense representing the direction along the coordinate component; c. calculating for a fixed interval of time and in response to the predetermined path velocity a number of iterations required to move along the predetermined path between the two predetermined points; d. calculating for each fixed interval of time an incremental displacement to be moved with each iteration in response to the first coordinate values; e. calculating, in response to the incremental displacement and the direction numbers, the coordinate values relative to the first coordinate system of an end point of the incremental displacement; f. generating, in response to the coordinate values of the end point, individual control signals representing corresponding generalized coordinate values relative to the generalized coordinate system of said end point; g. applying, during each fixed interval of time, the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and h. iterating steps (d) through (g) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 42

A method for operating a controller generating signals to a servomechanism circuit of a machine to control an element thereof in response to a program comprised of input signals representing a predetermined path velocity between and first coordinate values relative to a first coordinate system of two predetermined points being connected by a predetermined path generated by said controller, said machine having a geometric configuration defining a generalized coordinate system independent of said first coordinate system, and said machine having a plurality of actuators with at least one of said actuators defining an axis of rotation affecting the position of the element, the method to be executed by the controller comprisinG the steps of: a. storing the input signals; b. calculating direction numbers in response to the first coordinate values of the two predetermined points, each direction number having a magnitude representing the magnitude of motion along a coordinate component relative to the first coordinate system of the predetermined path between the two predetermined points, and a sense representing the direction along the coordinate component; c. calculating for a fixed interval of time and in response to the predetermined path velocity a number of iterations required to move along the predetermined path between the two predetermined points; d. calculating for each fixed interval of time an incremental displacement to be moved with each iteration in response to the first coordinate values; e. calculating, in response to the incremental displacement and the direction numbers, the coordinate values relative to the first coordinate system of an end point of the incremental displacement; f. generating, in response to the coordinate values of the end point, individual control signals representing corresponding generalized coordinate values relative to the generalized coordinate system of said end point; g. applying, during each fixed interval of time, the individual control signals to the servomechanism circuit to cause the actuators to move the element of the machine through the incremental displacement; and h. iterating steps (d) through (g) to cause the element of the machine to move at the predetermined path velocity along the predetermined path between the two predetermined points.

Claim 43

A method for operating a controller generating signals to a servomechanism circuit of a machine to control the position of an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said controller, said machine having a plurality of actuators defining a plurality of axes of motion with at least one of said actuators defining an axis of rotation affecting the position of the element, and said controller being responsive to the input signals for controlling the machine in relation to a generalized coordinate system independent of said first coordinate system and defined by the geometric configuration of the machine, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. generating, in response to the input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, a set of intermediate coordinate values in the first coordinate system defining a successive point along a predetermined path connecting the two predetermined points; c. calculating, in response to the set of intermediate coordinate values, a set of error quantities representing the difference between the set of intermediate coordinate values and a set of initial coordinate values in the first coordinate system; d. reducing the error quantities to a predetermined magnitude by generating a set of generalized coordinate values in the generalized coordinate system corresponding to the set of intermediate coordinate values; e. applying the set of generalized coordinate values to the servomechanism circuit to cause the actuators to move the element of the machine to the successive point; f. iterating steps (b) through (e) to move the element of the machine along the predetermined path at the predetermined path velocity; and g. iterating steps (b) through (f) to move the element of the machine at the predetermined path velocities along the predetermined paths connecting the predetermined points.

Claim 44

A method for operating a controller generating signals to a servomechanism circuit of a machine to control the position of an element thereof in response to a program comprised of input signals representing predetermined path velocities between and first coordinate values relative to a first coordinate system of predetermined points being connected by predetermined paths generated by said controller, said machine having a plurality of actuators defining a plurality of axes of motion with at least one of said actuators defining an axis of rotation affecting the position of the element, and said controller being responsive to the input signals for controlling the machine in relation to a generalized coordinate system independent of said first coordinate system and defined by the geometric configuration of the machine, the method to be executed by the controller comprising the steps of: a. storing the input signals; b. generating, in response to the input signals representing a predetermined path velocity between and first coordinate values of two of the predetermined points, a set of intermediate coordinate values in the first coordinate system defining a successive point along a predetermined path connecting the two predetermined points; c. calculating, in response to the set of intermediate coordinate values, a set of error quantities representing the difference between the set of intermediate coordinate values and a set of initial coordinate values in the first coordinate system; d. reducing the error quantities to a predetermined magnitude by generating a set of generalized coordinate values in the generalized coordinate system corresponding to the set of intermediate coordinate values; e. applying the set of generalized coordinate values to the servomechanism circuit to cause the actuators to move the element of the machine to the successive point; f. iterating steps (b) through (e) to move the element of the machine along the predetermined path at the predetermined path velocity; and g. iterating steps (b) through (f) to move the element of the machine at the predetermined path velocities along the predetermined paths connecting the predetermined points.