US Patent 10054400 Robot arm launching system

An effector launching system and method may be used on a moving ship deck. The launching system includes a plurality of effectors and a robot that is arranged on the moving platform. The robot includes a moveable robot arm having an end portion that is engageable with the effectors for firing the effectors during engagement. The system includes a sensor for detecting movement of the moving platform and a motion stabilization controller that is in communication with a processor and the robot arm for controlling movement of the robot arm. The motion stabilization controller adjusts the robot arm in response to the detected movement of the moving platform to maintain the end portion in a static position when the effector is fired.