Apparatus and method for oscillatory motion control

摘要

An apparatus and method are provided for controlling the motion of a point associated with a function element carried by a machine. The motion describes an oscillatory pattern in a selectable plane through a path between two positions defined by input signals. The oscillatory motion pattern defines cyclic excursions about the path. Motion is effected by iteratively interpolating intermediate positions along the path, computing incremental excursion amplitudes associated with the intermediate position displacements, calculating coordinates of the intermediate position excursions and producing machine actuator control signals to move the machine members to advance the point from its position along the pattern to an intermediate position.