It is well known that the CV（Constant Velocity） motor introduces velocity fluctuation.In fact

in the servo motor

there is also a fluctuation if the servo motor is not feedback controlled.A pioneer yet preliminary study on designing a path generator is presented with consideration of the systems dynamics including inertia

damping

and stiffness of the motors.The methodology proposed is to consider the servomotor’s input as a design variable to compensate the error on a path caused by the velocity fluctuation in the motors.The simulated test result has shown significant improvement in path generation accuracy with the proposed methodology.