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 |
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.
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