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US 12,168,295 B2Granted
Systems and methods for precise and dynamic positioning over volumes
AssigneeBuilding Machines, Inc.
InventorsJeremy Samuel De Bonet, Nicholas Charles McMahon
Life of this patent
Estimating the term…
Abstract
Embodiments of positioning systems and methods are disclosed herein. Embodiments of such positioning systems may include a hierarchy of positioning systems. Each of the positioning systems in the hierarchy may be adapted to move each positioning system lower in the hierarchy along with one or more end-effectors. A control system may control the positioning systems of the hierarchy using a control method comprising a coarse step, a refinement step, or an adaptive step.
Claims24
A positioning system, comprising:
- a hierarchical positioning system adapted to move an end-effector coupled to the hierarchical positioning system, the hierarchical positioning system comprising a set of positioning systems arranged in a hierarchy such that a coarse positioning system of the set of positioning systems is adapted to move a finer positioning system of the set of positioning systems and the end-effector, and the finer positioning system is adapted to move the end-effector;
- and
- a control system adapted to control the hierarchical positioning system by:
- performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarse positioning system of the hierarchical positioning system to move finer positioning system and the end-effector to a first position associated with a plan;
- and
- subsequent to performing the coarse positioning step, performing a refinement positioning step, wherein performing the refinement positioning step comprises:
- obtaining sensed position data associated with an actual position of the end-effector, and
- controlling the finer positioning system of the hierarchical positioning system to move the end-effector based on a determination of the difference between the first position and the actual position of the end-effector.
5 more elements
A method, comprising:
- controlling a hierarchical positioning system adapted to move an end-effector coupled to the hierarchical positioning system, wherein the hierarchical positioning system comprises a set of positioning systems arranged in a hierarchy such that a coarse positioning system of the set of positioning systems is adapted to move a finer positioning system of the set of positioning systems and the end-effector, and the finer positioning system is adapted to move the end-effector, wherein the hierarchical positioning system is controlled by:
- performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarse positioning system of the hierarchical positioning system to move finer positioning system and the end-effector to a first position associated with a plan;
- and
- subsequent to performing the coarse positioning step, performing a refinement positioning step.
1 more element
A non-transitory computer readable medium, comprising instructions for:
- controlling a hierarchical positioning system adapted to move an end-effector coupled to the hierarchical positioning system, wherein the hierarchical positioning system comprises a set of positioning systems arranged in a hierarchy such that a coarse positioning system of the set of positioning systems is adapted to move a finer positioning system of the set of positioning systems and the end-effector, and the finer positioning system is adapted to move the end-effector, wherein the hierarchical positioning system is controlled by:
- performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarse positioning system of the hierarchical positioning system to move finer positioning system and the end-effector to a first position associated with a plan;
- and
- subsequent to performing the coarse positioning step, performing a refinement positioning step, wherein performing the refinement positioning step comprises:
- obtaining sensed position data associated with an actual position of the end-effector, and
- controlling the finer positioning system of the hierarchical positioning system to move the end-effector based on a determination of the difference between the first position and the actual position of the end-effector.
3 more elements
Dependencies are inferred from the claim text.