A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the...http://www.google.ca/patents/US5523663?utm_source=gb-gplus-sharePatent US5523663 - Method for controlling a manipulator relative to a moving workpiece
