Data processing: generic control systems or specific application – Specific application – apparatus or process – Nonreactive mixing process
Reexamination Certificate
2011-08-30
2011-08-30
Nguyen, John Q (Department: 3665)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Nonreactive mixing process
Reexamination Certificate
active
08010235
ABSTRACT:
A method of operating a multi-axis machine. The machine linkage is monitored to detect an approach by linkage joint(s) toward singularity. A degree of the approached singularity is determined. The joint(s) approaching singularity are identified. Virtual joints are used to replace the identified joint(s) in a manipulator matrix to modify the manipulator matrix. The modified matrix is used to determine position changes for the linkage links. This method can provide software-based compensation for a wide range of machine configurations, without a priori knowledge of singularities for a given machine.
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Harness & Dickey & Pierce P.L.C.
King Rodney
Nguyen John Q
The Boeing Company
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