Patent ID: 7208898

Claim:
A method comprising a step of moving a control object from an initial position to a final position using a near time-optimal jerk control profile comprising a sequence of first, second and third sinusoidal pulses of respectively alternating polarity and common absolute magnitude, the area of the second pulse selected to be nominally equal to the combined area of the first and third pulses, wherein each of the first, second, and third pulses comprises a leading portion that approaches a maximum value of the pulse and a trailing portion that extends away from the maximum value of the pulse, and wherein the leading portion is nominally identical to the tailing portion so that each said pulse is nominally symmetric about said maximum value, and wherein the jerk control profile further comprises a first constant, non-zero jerk segment between the first and second pulses and a second constant, non-zero jerk segment between the second and third pulses.