Oliff & Berridge, PLC
Method of generating a motion command for a robot
 A method of generating a motion command for a robot, comprises providing a constant velocity region between an acceleration region when starting and a deceleration region when stopping for every repetitive period when moving the robot throughout a predetermined distance while periodically repeating the start/stop throughout a shorter distance than the predetermined distance. 
Kawasaki Jukogyo Kabushiki Kaisha
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Masatoshi
Sano