Importance

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Abstract

A method of controlling a motor comprises providing a motion control system and causing the shaft of the motor to move from an initial state to a new state, such as from an initial position or velocity to a new position or velocity. Coefficients for each of a plurality of polynomial segments of a motion profile are determined. The plurality of polynomial segments and the corresponding coefficients for each respective segment characterize planned movement of the shaft through each respective segment. In a particularly preferred aspect, each segment is defined by a plurality of polynomials, which include a first polynomial that describes shaft position with respect to time, a second polynomial that describes shaft velocity with respect to time, and a third polynomial that describes shaft acceleration with respect to time. The shaft of the motor is then controlled, using a motion control loop, based on reference values generated using the plurality of polynomial segments and the corresponding coefficients for each respective segment.

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First Claim