Abstract: According to an exemplary embodiment of the present invention, a method of fabricating an optical device includes moving a first optical element in a first plane, and moving a second optical element in a second plane, which is orthogonal to the first plane; and aligning the first optical element to the second optical element.

Abstract: Dynamic control of the motion of a plurality of robots (12a and 12b) is accomplished by checking for interference if each robot were to traverse an incremental portion of its programmed path segment, the incremental portion being at least as long as the distance required for the robot to stop. Should there be no interference, each robot is allowed to traverse the incremental path length portion. Otherwise, the robot having the highest priority is enabled to reverse its incremental path segment portion while the other robots which would otherwise interfere are ordered to take evasive action, either to stop if moving, or to move away if stopped. Periodic checks are made for an interference condition at a sufficiently rapid rate so that each non-interfering robot can traverse successive incremental path segment portions in a smooth manner.

Abstract: The positional error of a robotic manipulator (20,22) within its workspace (38) can be reduced by advantageously mapping the manipulator positional error at each of a plurality of grid points (44) within the workspace. Such mapping is carried out by placing a grid (40) containing uniformly spaced grid points (44) in the workspace and then measuring the manipulator error at each grid point. From the map of manipulator positional error values, the manipulator positional error at any point in the workspace can easily be obtained by interpolation.