Patent ID: 8886360

Claim:
A method of controlling a velocity of a motor to drive a joint of a robot comprising: generating a velocity profile of the motor based on velocity profile generation data received from a user; judging whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, the velocity sections including an acceleration section, an acceleration compensation section, a constant velocity section, a deceleration compensation section, and a deceleration section, where the high velocity region corresponds to the acceleration compensation section in which the acceleration section transitions to the constant velocity section; estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, the acceleration corresponding to the current velocity is estimated using an acceleration-velocity graph in the acceleration compensation section or the deceleration compensation section; compensating for the velocity profile using the estimated acceleration; and driving the motor using the compensated velocity profile, wherein the acceleration-velocity graph is a pattern table in which the acceleration corresponding to the current velocity is stored in advance using the fact that the acceleration is directly proportional to a torque of the motor.