| abstract |
A method and apparatus for controlling a function element of an automaton at a predetermined velocity and acceleration along a predetermined path in space between two predetermined points. The automaton has a plurality of axes of motion, at least one of which is an axis of rotary motion for moving a function element along the predetermined path. The automaton has other axes of motion for controlling the orientation of the function element in a predetermined manner while said element is moving from one position to another position. From an input, signals are generated representing the predetermined velocity and rectangular coordinate values of end points of the predetermined path; and the disclosed apparatus is operative on a fixed time basis to iteratively calculate a number of incremental displacements. Coordinate values defining each of the increments are calculated, and these coordinate values are transformed into corresponding generalized coordinate values defined by the geometric configuration of the automaton. A servomechanism drive circuit is responsive to output signals representing changes in the generalized coordinate values along each incremental displacement for causing actuators on the automaton to move proportionally. Hence, the automaton is moved at a predetermined velocity along the predetermined path. |