Apparatus, system and computer program for controlling a tool

A controller for controlling the movement of a moving assembly for moving a tool along a defined path, the moving assembly including a holding assembly that is operable to hold the tool and move the tool in a vertical axis between the holding assembly and a target area of an object held adjacent to the moving assembly, the moving assembly being operable to move the tool within the target area in X and Y directions, characterized in that the controller is operable to:

• (a) obtain sensor data from at least one sensor associated with the moving assembly, and optionally at least one other sensor associated with the holding assembly, such sensor data indicating the location of the tool in relation to the target area;
• (b) extrapolate from such sensor data the location of the tool relative to the target area in real time;
• and
• (c) based on the sensor data, selectively actuate:
• (i) at least one first actuator linked to the moving assembly so as to move a tool linked to the moving assembly along a selected, including at a selected velocity;
• and
• (ii) at least one second actuator linked to the holding assembly to lower the tool in the vertical axis to bring the tool in contact with the target area and optionally to exert selected pressure on the target area at selected points along the selected path.

A control computer program, characterized in that the control computer program comprises computer instructions operable on a computer to enable control of the movement of a moving assembly, so as to:

• (a) obtain sensor data from at least one sensor associated with the moving assembly, and optionally at least one other sensor associated with the holding assembly, such sensor data indicating the location of the tool in relation to the target area;
• (b) extrapolate from such sensor data the location of the tool relative to the target area in real time;
• and
• (c) based on the sensor data, selectively actuate:
• (i) at least one first actuator linked to the moving assembly so as to move a tool linked to the moving assembly along a selected, including at a selected velocity;
• and
• (ii) at least one second actuator linked to the holding assembly to lower the tool in the vertical axis to bring the tool in contact with the target area and optionally to exert selected pressure on the target area at selected points along the selected path.

A method for controlling a moving assembly that is operable to hold a tool and move the tool along a defined path within a target area of an object held adjacent to the moving assembly, characterized in that the method includes:

• (a) receiving data regarding a defined travel path for the tool along the target area;
• (b) establishing the location of one or more moving parts of the moving assembly in real time based on sensor data from one or more sensors linked to the moving assembly;
• (c) establishing travel path data associated with the defined travel path, the travel path including coordinate data for contact between the tool and the target area, velocity of travel of the tool at selected points of the travel, and pressure exerted on the target area at selected points of the travel path, and converting such data into control signals in real time for intermediate command points for the moving assembly to bring the tool in contact with the target area in compliance with the travel path data;
• and
• (d) sending the travel path data to one or more actuators linked to the moving assembly, thereby controlling the moving assembly to move the tool along the defined travel path.