Motion save and play function realization of the robotic follow spot

Motion saving and playing functions are important issues of the robotic follow spot because almost all equipments in theatres are controlled by pre-defined cues. We developed a robotic follow spot and realized save-play functions of it. This paper is about the development of a robotic follow spot and about the motion save-play function realization. The robotic follow spot contains actuators, load cells, microprocessor boards, and embedded PC. It can manually be operated by detecting the operator's force using load cells and controlling the pan-tilt actuators. In motion saving mode, the actuator angular velocity commands are saved in real time. And we realized a motion playing function from the save data.