WO/2009/026641 is referenced by 2 patents.

A platform (204) supporting a raisable and pivotable robotic arm having a coarse positioning robotic arm (206) and at least one fine positioning robotic arm (210) is provided. The robotic arm is provided with apparatus for precise real-time measurement and control of the approximate position and orientation of the end (209) of the coarse positioning robotic arm relative to the position of a base (102). The base (102) has a distance sensor (107) with angle encoders arranged to send a beam to a target orientation sensor (105) located on said end (209) of the coarse positioning robotic arm (206), to measure and output spatial orientation data pertaining to the end (209). The target orientation sensor (103) outputs orientation data being a measurement of orientation of the end (209). Processor circuitry (100) derives data from the distance sensor (107) and the target orientation sensor (105), and uses this data in control of the approximate position of the end (209) by controlling the position of the coarse positioning robotic arm (206), and to control the position and orientation of the fine positioning robotic arm (210).

Title
System and method for precise real-time control of position and orientation of tooling
Application Number
PCT/AU2008/001274
Publication Number
2009/026641
Application Date
August 28, 2008
Publication Date
March 5, 2009
Inventor
Wood Michael Barrington
Pivac Mark Joseph
Agent
GOLJA HAINES 35 Wickham Street East Perth Western Australia 6004
Assignee
Wood Michael Barrington
Pivac Mark Joseph
Goldwing Nominees
IPC
G05D 03/12
B23Q 16/12
B23Q 16/00
B23Q 15/22
B23Q 15/20
B25J 09/10
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