An apparatus optimizes arm velocity when the arm is carrying a given payload.
More specifically, the apparatus controls the performance of a motor so that the
motor can move the arm at an arm maximum velocity when the arm is carrying the
given payload. To that end, the apparatus includes an information input to receive
motor performance information, and a controller operatively coupled with the information
input. The controller is capable of determining the arm maximum velocity from the
motor performance information. The controller also is capable of causing the motor
to move the arm at the arm maximum velocity.
