Robot motion planning with many degrees of freedom and dynamic constraints

A hydraulically powered, cam controlled means for actuating the turret slide of an automatic turret lathe including a valve actuator, which translates any input motion received from the cam into endwise motion of the control valve spool regardless of the direction from which this motion is received, thereby making unlimited cam steepness possible, so that it becomes now possible to obtain any desired speed for the rapid advance, rapid return as well as for the feed motion of the turret slide, all positively controlled by the cam.