Disclosed is a method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller generating a speed command profile for controlling...http://www.google.de/patents/US6528963?utm_source=gb-gplus-sharePatent US6528963 - Robot and method for controlling motor speed of the robot
