Patent ID: 8803465

Claim:
An apparatus to control a transient response of a mechanical system to a motion command signal, the apparatus comprising: a command generator to: receive data defining an initial state and a final state in the mechanical system and a time interval within which a change of state from the initial state to the final state is to complete; and generate a command profile from one or more copies of a previously specified prototype pulse, each copy of the prototype pulse being independently scaled in amplitude by a scaling factor computed from the initial and final states in the mechanical system, the prototype pulse having a prototypical pulse width and a prototypical pulse shape that define at least one attenuation band in a frequency spectrum thereof so as to inhibit an undesired frequency-dependent response in the mechanical system to acceleration of at least one component thereof that effects the change of state in the mechanical system within the time interval; and a controller to generate the motion control signal from the command profile in response to which the component effects the change of state in the mechanical system within the time interval.