SYSTEM AND METHOD FOR ADJUSTING END-EFFECTOR ACTUATION BASED ON RELATIVE POSITION WITH RESPECT TO GRAVITATIONAL FORCE

A system and method for maneuvering a robotic end-effector using one or more motors that have a force limiter that is adaptable to take into account any effects of a changing gravitational force as the system moves. In one embodiment, the system includes an actuator, such as a drive motor, for applying a force vector to actuate a function of the end effector, such as moving the end-effector along a track that is attached to a contoured surface. Further, a force limiter coupled to the actuator is configured to interrupt the actuating if the force exceeds a first threshold. Further, the system includes an orientation detector to determine any changes in orientation with respect to gravity so as to adjust the force limit accordingly. Thus, if the force limiter determines that a threshold has been exceeded, the force limiter may limit or interrupt the motion while taking changing gravitational forces into account.