On the dynamic response of actuation devices in nonlinear dynamics systems

An apparatus for controlling an actuator, the device comprising:

• an actuator;
• and
• a control portion coupled to the actuator, wherein the control portion comprises:
• an input portion to receive information on a starting first position and an indication of an actuator output to move the actuator from the starting first position to a second position,
• a separator configured to separate the indicated actuator output into motion dependent components and motion independent components,
• a subtractor coupled to receive the information on the first and second positions to produce a difference between the first and second positions,
• a first adder coupled to receive the difference between the first and second positions and the motion dependent components to produce a first combined result,
• a low pass filter coupled to receive the first combined result removing one or more high frequency components beyond a dynamic response capability of the actuator to produce a first filtered result, and
• a second adder coupled to receive the first filtered result and the motion independent components to produce a second combined result to drive the actuator.

A robotic manipulator comprising:

• an actuator;
• and
• and a control portion coupled to the actuator, wherein the control portion comprises:
• an input portion to receive information on a starting first position and an indication of an actuator output to move the actuator from the starting first position to a second position,
• a separator configured to separate the indicated actuator output into motion dependent components and motion independent components,
• a subtractor coupled to receive the information on the first and second positions to produce a difference between the first and second positions,
• a first adder coupled to receive the difference between the first and second positions and the motion dependent components to produce a first combined result,
• a low pass filter coupled to receive the first combined result removing one or more high frequency components beyond a dynamic response capability of the actuator to produce a first filtered result, and
• a second adder coupled to receive the first filtered result and the motion independent components to produce a second combined result to drive the actuator.