Hybrid machine control incorporating fast-tool servos

An apparatus for generating a controlled object trajectory in an automated machine, comprising:

• at least one controller configured to:
• interpolate an object trajectory to form an ideal vector T in a first coordinate set and a command vector M in a second coordinate set;
• low pass filter said command vector M to determine a filtered command vector M′ and a filtered trajectory vector T′ in the first coordinate set;
• and
• compute a vector subtraction of the filtered trajectory vector T′ from the ideal vector T, the vector subtraction resulting in a mechanism trajectory vector Th;
• and
• communication circuitry for communicating the filtered command vector M′ to a first mechanism and the mechanism trajectory vector Th to a second mechanism attached to and moved by the first mechanism, wherein the first mechanism and the second mechanism operatively coupled to each other and to the at least one controller;
• wherein each respective mechanism is moved according to the command vector M′ and trajectory vector Th so that the object follows the object trajectory and the object is attached to and moved by the second mechanism.

An apparatus for generating a controlled object trajectory in an automated machine, the automated machine comprising at least one controller, a first mechanism, and a second mechanism attached to and moved by the first mechanism, all operatively coupled to each other, wherein the object is attached to and moved by the second mechanism, comprising means for:

• (a) in the at least one controller:
• interpolating an object trajectory to form an ideal vector T in a first coordinate set and a command vector M in a second coordinate set;
• low pass filtering said command vector M to determine a filtered command vector M′ and a filtered trajectory vector T′ in the first coordinate set;
• and
• computing a vector subtraction of the filtered trajectory vector T′ from the ideal vector T, the vector subtraction resulting in a mechanism trajectory vector Th;
• (b) communicating the filtered command vector M′ to the first mechanism and the mechanism trajectory vector Th to the second mechanism;
• and
• (c) moving each respective mechanism according to the command vector M′ and trajectory vector Th so that the object follows the object trajectory.