Abstract: A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.

Abstract: An anagraphic stand comprises a base frame, a camera support structure and a mobile stage. The stage is driven relative to the camera by octhogonally-mounted linear drive means attached to the base and by a gear-reduced rotary drive means. All of the drive means are electronically converted microstepping devices and the drive structure is specially adapted to provide smooth, vibration-free motion.