Eliminate jerkiness and oscillation in robotic motion through gradual command injection. Software-only solution requiring no hardware modifications. Adaptive learning for any robot platform.
from thalosforge import DosageController
# Initialize controller
controller = DosageController(
update_rate=100, # Hz
strategy="adaptive"
)
# Set safety limits
controller.set_limits(
max_velocity=1.0,
max_acceleration=2.0,
max_jerk=5.0
)
# Target position (instant command)
target = [1.5, -0.3, 0.8]
# Get smooth command sequence
for step in controller.dose(target):
robot.send_command(step)
# Smooth motion, no oscillationInstantaneous position commands cause oscillation, overshoot, and jerkiness
Send full target position instantly. Motor tries to jump to position, overshoots, oscillates, settles slowly. Causes mechanical stress and imprecise motion.
Inject command gradually over time. Motor follows smooth trajectory. No overshoot, no oscillation, human-like motion quality.
Three steps to smooth motion
High-level controller sends desired position. Could be from path planner, AI, or manual control.
Dosage controller breaks command into smooth increments based on velocity, acceleration, and jerk limits.
Send small doses at high frequency (50-1000 Hz). Robot follows smooth trajectory to target.
Enterprise-ready motion control
Learns optimal dosing parameters from robot response. Self-tunes for different payloads, speeds, and environmental conditions.
Linear ramp, S-curve, exponential, and custom profiles. Choose the trajectory shape that matches your application.
Hard limits on velocity, acceleration, and jerk. Emergency stop detection and safe shutdown sequences.
Real-time detection of oscillation onset. Automatic damping injection before instability develops.
Works with any robot: ROS, serial, TCP/IP, or direct motor control. No hardware modifications required.
Sub-millisecond computation. Validated at 1000 Hz update rates with deterministic timing.
Where smooth motion matters
Pick-and-place operations requiring precise positioning without overshoot. Reduce cycle time while maintaining accuracy. Eliminate part damage from jarring movements.
Human-robot interaction requires smooth, predictable motion. Command Dosage enables safe operation near workers with motion that feels natural and non-threatening.
Surgical robots, semiconductor handling, and scientific instruments where vibration must be minimized. Sub-micron settling without oscillation.
Steering, braking, and throttle commands that feel natural to passengers. Eliminate the jerky motion that causes motion sickness in autonomous cars.
The Command Dosage Control system is covered by pending patent applications. Licensing available for OEM integration and commercial deployment.
Request a trial to test Command Dosage Control with your robot platform. Our team can help with integration and parameter tuning.