Systems, methods and apparatus for guided tools with multiple positioning systems

A computer implemented method for advancing a working member with respect to a desired path relative to a workpiece, wherein a frame in a first positioning system is movable by a second positioning system, the first positioning system comprises:

• the frame, a working member adapter for holding the working member, and a first set of actuators for moving the working member within an adjustment region relative to the frame, wherein the frame is operable to removably attach to the second positioning system comprising a second set of actuators operable to move the frame relative to the workpiece, when not attached to the second positioning system, the frame is operable to be positioned on a surface of the workpiece and manually moved by a user relative to the workpiece, the adjustment region has at least two dimensions, and each actuator in the first set of actuators, the working member adapter, and the working member move with the frame as the frame is moved relative to the workpiece,
• the method comprising:
• A. receiving, via a sensor operatively coupled to a processor, first information, wherein the first information is associated with a position of the frame relative to a portion of the workpiece, and a reference position of the working member is associated with the position of the frame;
• B. determining, by a processor, a first target point on a desired path, wherein the first target point lies ahead of the reference position with respect to advancement of the working member with respect to the desired path, and the desired path is fixed relative to the workpiece;
• C. providing, by a processor, second information to the second positioning system to cause at least one actuator in the second set of actuators to move the frame in a first direction relative to the workpiece such that as the working member advances with respect to a first portion of the desired path, new portions of the desired path move into the adjustment region associated with the first positioning system, wherein the first direction is based at least in part upon a second target point on the desired path, and the second target point lies ahead of the first target point with respect to advancement of the working member with respect to the desired path;
• and
• D. controlling, by a processor, at least one actuator in the first set of actuators to move the working member toward the first target point based at least in part upon the first information.

One or more non-transitory computer readable media storing instructions for advancing a working member with respect to a desired path relative to a workpiece, wherein a second positioning system is operable to move a frame in a first positioning system, the first positioning system comprises:

• the frame, a working member adapter for holding the working member, and a first set of actuators operable to move the working member within an adjustment region relative to the frame, wherein the frame is operable to removably attach to the second positioning system comprising a second set of actuators operable to move the frame relative to the workpiece, when not attached to the second positioning system, the frame is operable to be positioned on a surface of the workpiece and manually moved by a user relative to the workpiece, the adjustment region has at least two dimensions, and each actuator in the first set of actuators, the working member adapter, and the working member move with the frame as the frame is moved relative to the workpiece, and
• wherein the instructions, when executed by a computer system, cause the computer system to:
• A. receive first information from a sensor, wherein the first information is associated with a position of the frame relative to a portion of the workpiece, and a reference position of the working member is associated with the position of the frame;
• B. determine a first target point on a desired path, wherein the first target point lies ahead of the reference position with respect to advancement of the working member with respect to the desired path, and the desired path is fixed relative to the workpiece;
• C. provide second information to the second positioning system to cause at least one actuator in the second set of actuators to move the frame in a first direction relative to the workpiece such that as the working member advances with respect to a first portion of the desired path, new portions of the desired path move into the adjustment region associated with the first positioning system, wherein the first direction is based at least in part upon a second target point on the desired path, and the second target point lies ahead of the first target point with respect to advancement of the working member with respect to the desired path;
• and
• D. control at least one actuator in the first set of actuators to move the working member toward the first target point.