A surgical instrument comprising: an articulation driver configured to drive an end effector that is articulatable between a first position and a second position, the articulation driver configured to drive the end effector from the first position to the second position; a motor coupled to the articulation driver , the motor configured to drive the articulation driver ; a sensor configured to detect a position of the articulation driver and provide a signal indicative of the position of the articulation driver ; and a control circuit coupled to the motor and the sensor, the control circuit configured to: determine a position of the articulation driver via the signal provided by the sensor; determine an angular position, i.e. an articulation angle, of the end effector according to the signal indicative of the position of the articulation driver ; and provide a drive signal to the motor to drive the motor at a velocity corresponding to the angular position of the end effector ; characterized in that the drive signal causes the motor to drive the articulation driver at a variable rate as a function of the articulation angle thereby driving the end effector at a fixed velocity when the angular position of the end effector is within a designated zone between the first position and the second position. an articulation driver configured to drive an end effector that is articulatable between a first position and a second position, the articulation driver configured to drive the end effector from the first position to the second position; a motor coupled to the articulation driver , the motor configured to drive the articulation driver ; a sensor configured to detect a position of the articulation driver and provide a signal indicative of the position of the articulation driver ; and a control circuit coupled to the motor and the sensor, the control circuit configured to: determine a position of the articulation driver via the signal provided by the sensor; determine an angular position, i.e. an articulation angle, of the end effector according to the signal indicative of the position of the articulation driver ; and provide a drive signal to the motor to drive the motor at a velocity corresponding to the angular position of the end effector ; characterized in that the drive signal causes the motor to drive the articulation driver at a variable rate as a function of the articulation angle thereby driving the end effector at a fixed velocity when the angular position of the end effector is within a designated zone between the first position and the second position. determine a position of the articulation driver via the signal provided by the sensor; determine an angular position, i.e. an articulation angle, of the end effector according to the signal indicative of the position of the articulation driver ; and provide a drive signal to the motor to drive the motor at a velocity corresponding to the angular position of the end effector ; characterized in that the drive signal causes the motor to drive the articulation driver at a variable rate as a function of the articulation angle thereby driving the end effector at a fixed velocity when the angular position of the end effector is within a designated zone between the first position and the second position. <EOS>