A system and method for controlling a mechanical arm comprises planning a desired path of a mechanical arm. An actual path segment of the mechanical arm is measured. An error is determined between the measured actual path segment and the planned desired path. A corrective force is applied to the mechanical...http://www.google.es/patents/US6968264?utm_source=gb-gplus-sharePatente US6968264 - Method and system for controlling a mechanical arm
Method and system for controlling a mechanical arm
