Use of filtered basis splines to compensate for servo-induced motion errors

摘要

A method for minimizing tracking errors in a dynamic system, the method comprising: obtaining desired trajectory data of the dynamic system; and a set for at least one of a desired trajectory and an actual trajectory of the dynamic system. Obtaining a set of constraints, obtaining a set of uniform or non-uniform rational B-splines having known original B-spline basis functions but having unknown B-spline coefficients, and a forward filter Applying desired processing to the B-spline basis functions and utilizing the original B-spline basis functions and the filtered B-spline basis functions to select the optimal coefficients of the B-splines. Applying a trajectory optimization process to and satisfying a set of constraints on at least one of a desired trajectory and an actual trajectory, The actual trajectory so that substantially equal to the desired trajectory is, including and outputting an optimal motion command signal to the dynamic system in response to orbital optimization process, the method.