Optimal Filters from Task Velocities to Joint Velocities Including Both Position and Velocity Limits

John E. McInroy, Sumeet Sunil Aphale

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

3 Citations (Scopus)


To implement extremely precise motion control over a very wide positional range and bandwidth, several actuators with different characteristics are often needed (e.g. coarse, fine, very fine). Often it is not clear how a desired task space trajectory should be divided among the actuators, especially when the actuators are connected together by complex kinematics. For instance, parallel linear actuators are often used to produce rotational motion because the parallel configuration provides high stiffness to weight, fault tolerance, etc. A new, general method for dividing a desired task space velocity among redundant actuators with complementary position and velocity limits has been found. Novel aspects of the approach are: (1) Any number of joint space actuators with many different position and velocity characteristics can be included; (2) Any number of output (task) velocities can also be included; (3) The method yields a transfer matrix mapping task velocities to joint space velocities, thus it is easily implemented (e.g. it does not require measurement of joint position, etc.). This method has been applied to pointing by connecting a precision Stewart platform and a fast steering mirror in series, thus creating a system capable of pointing very precisely over large positions and bandwidths in a fault tolerant manner. Experimental results show a factor of four reduction in pointing errors.
Original languageEnglish
Title of host publicationProceedings of the 42nd IEEE Conference on Decision and Control, Hawaii, USA, December 2003
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)0-7803-7924-1
Publication statusPublished - Dec 2003
Event 42nd IEEE International Conference on Decision and Control - Maui, United States
Duration: 9 Dec 200312 Dec 2003

Publication series

NameIEEE International Conference on Decision and Control
ISSN (Print)0191-2216


Conference 42nd IEEE International Conference on Decision and Control
Country/TerritoryUnited States

Bibliographical note

This work was supported by the missile Defense Agency and Army Research Office under grants DAAD19-00-1-0153 and DAAD19-02-1-0102.


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