Patent ID: 9455654
Filing Date: 2016-09-27
CPC Classification: B25J,G05B,H02P

Claim Text:
1. A method of controlling an actuation device to move an actuator, the method comprising acts of: receiving 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; dividing the indicated actuator output into motion dependent components and motion independent components; determining a difference between the first and second positions; combining the difference between the first and second positions with the motion dependent components producing a first combined result; filtering the first combined result removing one or more high frequency components beyond a dynamic response capability of the actuator producing a first filtered result; combining the first filtered result with the motion independent components producing a second combined result; converting the second combined result to a power signal for driving the actuator; and driving the actuator with the power signal.