Patent Document ID: 9927794
Application ID: 15546943
Patent Flag: 1

Claim One:
1. A system comprising: a filter engine to apply a filter to a target velocity value associated with a carriage, the filter including a filter parameter to round a state transition by changing the target velocity value from a first velocity value to a second velocity value when a first difference between the first velocity value and the second velocity value achieves a sharpness threshold; a feed forward engine to determine a feed forward term of a carriage based on a continuous model that uses a target velocity value of the velocity profile, a mass of a device conveyable by the carriage, and a friction force expected against the carriage; a feedback engine to determine a feedback term based on a second difference between the target velocity value and an actual velocity value of the carriage; and a motion engine to cause the carriage to move based on the feed forward term and the feedback term.