Sorry, this was the part I was looking for in the patent.
The invention applies to multiple kinematic chains and multiple dynamiccoordinate systems. The invention is particularly useful to stabilise, relative to the ground, an end effector, attached to a boom that is on a moving machine. When a machine moves, the acceleration of the machine imparts a dynamic force to the boom and the boom starts to oscillate at its natural frequency. Provided the compensating robot at the end of the boom has an amplitude larger than the amplitude of the boom motion, and a response much faster than the natural frequency of the boom (and vehicle), the compensating robot can correct for the boom motion due to bounce from the vehicle travel. The compensating robot does not have much range of motion so it is necessary to also correct the pose of the boom to keep the compensating robot within its available range of motion.
Basically, the laser tracking is just 1 piece of the puzzle, it gives you distances, measurement to a relative fixed point. The key is the compensation in the robotic arm, which sounded like there are several stages/segments involved in the compensation scheme of things. The further away, the more it needs to be compensated to acheive dynamic equilibrium.
PS: Not strong in mechanical engineering. Someone of better knowledge can correct me on this.
Add to My Watchlist
What is My Watchlist?
