US 12,168,295 B2
Systems and methods for precise and dynamic positioning over volumes
Jeremy Samuel De Bonet, Southborough, MA (US); and Nicholas Charles McMahon, Bolton, MA (US)
Assigned to Building Machines, Inc., Hudson, MA (US)
Appl. No. 18/707,858
Filed by Building Machines, Inc., Hudson, MA (US)
PCT Filed Oct. 1, 2021, PCT No. PCT/US2021/053244
§ 371(c)(1), (2) Date May 6, 2024,
PCT Pub. No. WO2022/072887, PCT Pub. Date Apr. 7, 2022.
Claims priority of provisional application 63/086,825, filed on Oct. 2, 2020.
Claims priority of provisional application 63/086,812, filed on Oct. 2, 2020.
Prior Publication US 2024/0326237 A1, Oct. 3, 2024
Int. Cl. B25J 9/10 (2006.01); B25J 9/00 (2006.01); B25J 9/02 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B28B 1/00 (2006.01); B33Y 30/00 (2015.01); B33Y 50/02 (2015.01); E04G 11/20 (2006.01); E04G 21/04 (2006.01); E04G 21/06 (2006.01)
CPC B25J 9/1015 (2013.01) [B25J 9/0078 (2013.01); B25J 9/026 (2013.01); B25J 9/1628 (2013.01); B25J 11/00 (2013.01); B28B 1/001 (2013.01); B33Y 30/00 (2014.12); B33Y 50/02 (2014.12); E04G 11/20 (2013.01); E04G 21/04 (2013.01); E04G 21/065 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A positioning system, comprising:
a hierarchical positioning system adapted to move an end-effector coupled to the hierarchical positioning system, the hierarchical positioning system comprising a set of positioning systems arranged in a hierarchy such that a coarse positioning system of the set of positioning systems is adapted to move a finer positioning system of the set of positioning systems and the end-effector, and the finer positioning system is adapted to move the end-effector; and
a control system adapted to control the hierarchical positioning system by:
performing a coarse positioning step, wherein performing the coarse positioning step comprises controlling the coarse positioning system of the hierarchical positioning system to move finer positioning system and the end-effector to a first position associated with a plan; and
subsequent to performing the coarse positioning step, performing a refinement positioning step, wherein performing the refinement positioning step comprises:
obtaining sensed position data associated with an actual position of the end-effector, and
controlling the finer positioning system of the hierarchical positioning system to move the end-effector based on a determination of the difference between the first position and the actual position of the end-effector.