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Abstract

An important strategy for addressing complexity is to decompose a problem into smaller pieces, solve the pieces, and recombine the answers to yield a solution. A simple yet powerful superposition technique is presented which uses this strategy to solve several types of advanced motion control problems. Multiple motion related descriptions are used on separate aspects of a problem to independently solve each aspect. These descriptions are then combined in real-time to yield a resultant motion which solves the combined problem. Three technique examples are presented including acceleration-bounded continuous path motion, backlash compensation, and satellite antenna pointing from a moving reference frame. The breadth of the example applications illustrates the general usefulness of this superposition technique. Motion controller requirements for accommodating superposition are discussed.

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