Tomtac: Translating Object Motion to Actuator Control

This paper describes a software abstraction method to simplify the programming of a common class of load processing machines in which the machine's actuators cannot usually manipulate a single load independently of other loads. The abstraction allows programmers to program load behavior directly, with an underlying control engine that automatically converts load behavior specifications to actuator controls. Examples from early simulations through to a commercial implementation are discussed, with dramatic savings in programming effort evidenced.