3.1.8.3.10.3 Applications
3.1.8.3.10.3.1 Input interpolation
The master is configured to use the distributed clock so that all input commands are equally spaced in time.
The FIR filter is set to operate such that the filter order is equal to the number of control cycles between two
successive target command updates. This ensures the command is fully respected, since the last step of
interpolation hits the requested point.
3.1.8.3.10.3.1.1 Pros
The controller “ramps up” to the next commanded position instead of seeing a step function.
The controller can be tuned much tighter than it would normally
Removes noise that can occur when a tightly controlled system receives a step input.
3.1.8.3.10.3.1.2 Cons
See Side Effects
3.1.8.3.10.3.2 Jerk limiting
When the input trajectory contains undesirable discontinuous or aggressive motion, the performance of the
mechanical system can be unsatisfactory.
Fixing the input trajectory can be difficult if the trajectory is built from sensor input and dynamically updated.
Some trajectory generators are very basic, and smoothing the input is ideal to avoid poor motion.
The FIR filter should be set to smooth the input to the desired magnitude. Higher filter order will result in a
smoother trajectory. Lower filter order will result in closer following of the input command.
3.1.8.3.10.3.2.1 Pros
An easy way to avoid the need for complex trajectory generators on the master.
Stable smoothing that guarantees settling on the input command by the end of the filter order.
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