A
control system is described for a base supporting a telescoping articulated boom
assembly indicated generally at 15, comprising long telescopic boom 17 and telescopic stick 19. Mounted to the remote end 21 of the stick 19 is an end
effector in the form of a head 23 that supports a 6 axis
robot arm 25 that moves a further end
effector 27 to manipulate the items. The
robot arm 25 has a
robot base 31, and mounted above the robot base 31 is a first target in the form of a 6 degree of freedom (6 DOF)
high data rate position sensor 33, that provides 6 DOF position coordinates, relative to a fixed ground reference 35, to a
control system. Mounted on the end of the robot arm 25 immediately above the end
effector 27 is a second target in the form of a 6 degree of freedom (6 DOF)
high data rate position sensor 37, that provides 6 DOF position coordinates, relative to the fixed ground reference 35, to the
control system. The fixed ground reference 35 tracks the sensor 33 and feeds data to the control
system to move the head with slow dynamic response within range of work for the robot arm, and tracks the sensor 37 to control movement of the
robotic arm 25 and end effector 27 with fast dynamic response.