Abstract: An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: An exemplary electric distributed propulsion system includes two or more rotors that are individually controlled by the rotational speed of associated motors, an input control connected to the associated motors to provide rotational speed control to the two or more rotors to produce a desired net thrust, and a logic connected to the input control and the associated motors, the logic for controlling speed and direction of the two or more rotors to achieve the desired net thrust and to avoid a motor speed condition.

Abstract: A controller controlling a synchronized operation of spindle and feed axes. The controller is configured to make a spindle axis perform an accelerated rotation at maximum capacity from a starting position aiming at a maximum rotation speed; detect a maximum acceleration of the spindle axis; detect a residual rotation amount of the spindle axis; detect a current speed of the spindle axis; and execute a position control for making the spindle axis perform a decelerated rotation so as to reach a target position, after the accelerated rotation at maximum capacity. The controller is further configured to make the spindle axis perform the decelerated rotation at a positioning deceleration higher than a deceleration corresponding to the maximum acceleration and equal to or lower than a maximum deceleration capable of compensating for a mechanical loss in a drive source during the decelerated rotation of the spindle axis.

Abstract: The disclosure relates to a mechatronic assembly for driving a body, which is designed to be connected to a continuous electrical power source and an electronic control unit comprising a computer for running a power-assistance algorithm supplying a pulse-width modulation input signal having discrete states and a cyclic ratio encoding the steering and torque/speed information.

Abstract: A machining tool with a numerical control device includes an actual gravity center calculation unit configured to calculate an actual gravity center, the actual gravity center being a whole gravity center of the machining tool and the load, a target gravity center position set unit, a movable part position correction unit configured to correct the relative position of the movable part to the fixed part, to make the target gravity center position and the whole center gravity center position of the machining tool and the load coincident.

Abstract: A system for controlling an electric motor which includes three coils and a rotor, comprising a motion-profile-generator for generating a rotor-motion-profile and for producing a position-command, a position-controller for determining a velocity-command and a position-feedforward, for determining a forward-velocity according to the prediction of the velocity required to reach said position-command. The system further includes a first summer for producing a modified velocity, a velocity controller, for determining a current-command, a velocity feedforward, for determining a forward-current and a second summer for producing a modified-current. The system also includes a commutator, for determining respective modified-coil-currents for each of at least three current-control-loops and for dividing said modified-coil-currents between the said current-control-loops according to the position of said rotor.

Abstract: A manipulation system includes: a manipulator that operates a microscopic object; a first input unit that generates a first movement command signal for moving the manipulator to a manipulator position corresponding to an input operation position; and a second input unit that generates a second movement command signal for moving the manipulator to a manipulator stored position stored in a storage. When the input operation position of the first input unit is a predetermined input operation position, the manipulator is enabled to be moved by an operation of the first input unit, or the manipulator is enabled to be moved by an operation of the second input unit.

Abstract: Control of a plurality of electronically commutated motors is effected using a control unit and a power unit. The power unit enables the provision of commutation signals to each controlled motor. The control unit comprises a DSP and a FPGA. An input memory of the FPGA is mapped to the DSP. In use, the DSP determines motor repositioning signals, on the basis of a received motor position demand signal describing demanded motor positions and the encoded motor position data, and loads the motor repositioning signals into the input memory of the FPGA. The FPGA is operable to generate motor driving current signals for driving the motors into the demanded motor positions, on the basis of the motor repositioning signals and motor phase current samples collected by the power unit, and to output the motor driving current signals to the power unit.

Abstract: A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement

Abstract: An inverter control apparatus performs PWM control of a 3-phase inverter connected to a rotary machine, by operating switching devices corresponding to respective phases. In each of successive processing periods, the PWM control is applied such as to satisfy first and second conditions. The first condition is that the state of switching devices corresponding to a highest-voltage phase of the inverter during the processing period is held fixed throughout the processing period. The second condition is that switching devices corresponding to a lowest-voltage phase of the inverter undergoes a greater number of switching operations during the processing period than switching devices corresponding to an intermediate-voltage phase of the inverter. The frequency of harmonic components in AC currents flowing in the rotary machine can thereby be raised above the audible range, to suppress audible mechanical noise, without significantly increasing the amount of switching losses.

Abstract: A controller that performs pulse width modulation control of a three-phase inverter circuit includes a three-phase modulation voltage command value generation unit, a two-phase modulation voltage command value generation unit, a voltage command switching unit, and a PWM signal output unit. The voltage command switching unit switches a voltage command value to a two-phase modulation voltage command value when a determination value becomes larger than or equal to a first threshold value, and switches the voltage command value to a three-phase modulation voltage command value when the determination value becomes smaller than a second threshold value, which is smaller than the first threshold value.

Abstract: A method for controlling a hydrostatic drive unit of a work vehicle may generally include determining a reference swashplate position of a hydraulic pump of the hydrostatic drive unit, wherein the reference swashplate position is associated with an uncompensated current command, and determining an actual swashplate position of the hydraulic pump, wherein the actual swashplate position differs from the reference swashplate position due to a loading condition of the work vehicle. The method may also include determining a closed-loop current command based a on the actual and reference swashplate positions and generating a modified current command based on the uncompensated current command and/or the closed-loop current command. The modified current command may differ from the closed-loop current command when an operator input is within a predetermined control input range and may be equal to the closed-Loop current command when the operator input is outside the predetermined control input range.

Abstract: A regulator draws power from a battery or power delivery system and supplies regulated power to a load according to alternating modes of operation. In a voltage control mode, the regulator supplies power with a nominal voltage level and a fluctuating current level that is allowed to float according to the current demands of the load. When the load demands an amount of current that could potentially cause damage, the regulator transitions to a current control mode. In the current control mode, the regulator supplies power with a fluctuating voltage level and a maximum current level. The regulator transitions between voltage control mode and current control mode in order to supply a maximum power level to the load without exceeding the maximum current level. The regulator is also configured to limit the power drawn from the battery by decreasing the maximum output current, potentially avoiding voltage droop.

Abstract: A motor control system includes a motor having an associated rotary position encoder, and a controller for controlling the operation of the motor, wherein the motor is switchable between a position control mode and a torque control mode.

Abstract: A method for controlling an inverter in a system including a load, a motor for driving the load, and an inverter for operating the motor comprises when a load amount of the load is reduced to below a sleep level, checking whether a time corresponding to a sleep delay has lapsed; when the load amount of the load is still below the sleep level even after the sleep delay, varying an operating frequency of the motor, and if there is no change in a feedback from the load in response to the variation in the operating frequency, controlling the inverter to enter a sleep mode.

Abstract: An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

Abstract: A motor control apparatus that controls the rotational angle of a motor (111) which drives a rotating body (112) includes a synchronizing means (200) for generating and outputting an interrupt signal (700) based on an external reference signal (600) input from outside and a rotating body reference signal (500) generated by the rotating body, and a controlling means (300) for computing a command value for making the rotational angle of the motor follow a target rotational angle and outputting the command value to the motor each time the interrupt signal is inputted. The synchronizing means (200) changes the output period of the interrupt signal (700) in accordance with a time difference between the external reference signal (600) and the rotating body reference signal (500).

Abstract: An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

Abstract: A robot which is able to complete all or a part of desired operations and take a safety countermeasure in order to prevent an unexpected result from being obtained, even when a power source of a motor-based robot is unintentionally and suddenly cut off. A method of controlling a robot, which includes a main power source, a subsidiary power source and a motor to receive power from at least one of the main power source and the subsidiary power source, includes driving the motor using power supplied from the subsidiary power source if power supplied from the main power source is cut off, selecting at least one of a plurality of safety control modes to stably control the robot in consideration of a current state of the robot, and controlling the robot to operate in the selected safety control mode.

Abstract: A positioning control system for positioning a moving element on a basis of position command data is provided with a feedback loop. The system is also provided with a loop gain modifier for determining a loop gain, which is to be used in a following positioning operation, on a basis of a difference between an amount of overshoot measured in a current positioning operation and a predetermined tolerance or on a basis of a difference between an amount of overshoot measured in a current positioning operation and a first predetermined tolerance and a difference between an amount of undershoot measured in the current positioning operation and a second predetermined tolerance. The first and second tolerances may preferably be the same in absolute value. The moving element may specifically be a steerable mirror for drilling holes in a work by reflecting a laser beam. Also disclosed is a laser drilling machine including the system.

Abstract: The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (1-6) and a controller (17). A medical tool (21-24) is fixed to a fixing device (18) on the robot (R) and the working range (30) of the robot (R) is set by the controller (17) in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (21-24).

Abstract: A motor drive PWM rectifier includes a control section which generates the PWM signal in accordance with either a three-phase modulation scheme or a two-phase modulation scheme in which a PWM voltage command for one phase selected from among three phases each constituting the PWM voltage command in the three-phase modulation scheme is set and held at a level equivalent to a maximum value or minimum value of the PWM carrier and in which a PWM voltage command for the other two phases created by also applying an offset, required to achieve the setting, to the other two phases, a detecting section which detects three-phase AC current and outputs a detected current value, and a selecting section which selects the two-phase modulation scheme when the detected current value is larger than a first threshold value but smaller than a second threshold value, and otherwise selects the three-phase modulation scheme.

Abstract: A brushless motor driving circuit includes a battery for supplying a power to the brushless motor driving circuit; a driver circuit; a bridge circuit including a plurality of N-channel FETs; a control unit for rotating a brushless motor by switching the bridge circuit through the driver circuit based on a rotor position detection signal; a floating voltage generator for applying a voltage to a first group of the FETs of the bridge circuit; and a converter which is powered from the battery. The converter has an output connected to an input of the floating voltage generator for the first group of the FETs of the bridge circuit and an input of the driver circuit for a second group of the FETs of the bridge circuit to dedicatedly supply a power to gates of the FETs, and the control unit is powered from the battery without using the converter.

Abstract: A servo control apparatus and method, the servo control apparatus including an input unit configured to receive an execution command with respect to one of a first control mode and a second control mode that are configured to control a motor, a plurality of detection units each configured to detect sensing data required for executing each of the first control mode and the second control mode, and a control unit configured to receive a feedback of the plurality of pieces of sensing data detected through the plurality of detection units while executing the first control mode, determine a point of time when a control mode is needed to be changed if the execution command with respect to the second control mode is input through the input unit, and check the sensing data required for executing the second control mode among the plurality of sensing data that are fed back.

Abstract: A linear actuator associated with an actuator system for a device includes a wire cable fabricated from an active material. The linear actuator couples to the device and to the moveable element. The active material induces strain in the linear actuator in response to an activation signal. The linear actuator translates the moveable element relative to the device in response to the induced strain. An activation controller electrically connects to the linear actuator and generates the activation signal. A position feedback sensor monitors a position of the moveable element.

Abstract: An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

Abstract: A motor control system includes a motor having an associated rotary position encoder, and a controller for controlling the operation of the motor, wherein the motor is switchable between a position control mode and a torque control mode.

Abstract: A control system for a lifting device in which a load moves up or down or maintains its position by a rope that is wound up or down by the rotation of a servo motor. It includes a device for measuring a force, a first controller, a second controller and a switching device. A total force that is applied at the lower part of the rope caused by a force for controlling, the mass of the load, and the acceleration of the load is measured. The first controller, based on the measured force computes the direction and the speed of the servo motor, and outputs a signal to it. The second controller determines a stable condition using Popov's stability criterion. The switching device replaces the first controller with the second controller when the value that is measured by the measuring device becomes less than a threshold.

Abstract: A motor controller drives and controls a motor to drive a shaft subject to gravity. The motor controller includes a PI control unit which controls the velocity of the motor, a brake which prevents the falling of the shaft in accordance with a brake signal, and a storage unit which detects the brake signal input to the brake. On the basis of the state of the detected brake signal, the storage unit stores the torque command value when the brake signal has changed from off to on, and sets the stored torque command value to an integral component of the PI control unit when the brake signal has changed from on to off.

Abstract: A system and control method mitigates hysteresis of an adjustable component in the system. A control module can allow small control changes to be effected to the component within limits of the component's and/or the system's normal hysteresis band. The control method can allow finer, more accurate and more aggressive control to be obtained from the component. The system and method can utilize two separate control regimes to control adjustments to the component. The first control regime can control changes larger than a hysteresis band and/or changes in a same direction as the last adjustment that was performed with the first control regime. The first control regime can be a feedback-based adjustment to the component. The second control regime can be utilized to control changes within the hysteresis band. The second control regime can use open-loop based adjustments to the component.

Abstract: A robot controller (7) controlling a robot (1) used combined with a machine tool (5, 6) provided with a communication unit (9) connecting the robot controller to a machine tool, a detection unit (52) detecting through the communication unit a type and number of machine tools, and a setting unit (55) setting the robot controller based on the type and number of machine tools detected by the detection unit. Due to this, machine tool and robot startup work can be simply and easily performed without requiring skill or increasing the startup man-hours. The setting unit selects one setting file from among a plurality of setting files for the robot controller, stored in the robot controller, based on the type and number of machine tools detected by the detection unit.

Abstract: A movable barrier operator system wherein one or more of the various components of the system is configured to operate selectively in at least either of two operational modes. Each operating mode is characterized by a corresponding energy usage profile. The operational status of the system is monitored and operating modes are selected that serve both to substantially ensure proper operation given current likely operational expectations and an overall desire to reduce energy consumption.

Abstract: The object of the invention is to provide a stepper motor apparatus and a method for controlling a stepper motor, and particularly relates to a stepper motor apparatus for driving a pointer and a method for controlling the stepper motor. When an ignition switch is turned on, CPU 12 starts to feed a driving signal into the stepper motor in order to cause the stepper motor to rotate in a backward direction. Upon detecting that a protrusion 9 is in abutment with a stopper 10 on the basis of induced voltage generated on excitation coils 5 and 6, CPU stop rotation of the stepper motor 3 by maintaining the driving signal's phase at which the abutment is detected. Subsequently, CPU 12 feeds the driving signal into the stepper motor 3 in order to drive the stepper motor 3 to rotate in a direction where the protrusion 9 is driven against the stopper 10, and then stops rotation of the stepper motor 3 in a forward direction by maintaining a predetermined phase at which the driving signal arrives.

Abstract: Size and weight reduction of a motor-driven vehicle, robot or the like is achieved. A current command Iref from a speed feedback gain is supplied to each of circuits with coefficients of sin(?m), sin(?m+2?/3) and sin(?m?2?/3) to generate three-phase signals. The three-phase signals are respectively supplied to current control gains through adder-subtracters. Further, signals from motor constants are added together by an adder to produce motor torque. Furthermore, coil voltages output from adders pass through diodes and are then added together by an adder, and the signal is supplied to a regenerative voltage determiner. When a regenerative voltage becomes excessive, in-phase current Idc is supplied through a regeneration control gain to adder-subtracters.

Abstract: The robot comprises a movable member; a motor operable to change a position of the movable member relative to a gravitationally-loaded axis; and a servo operable to control the motor. The servo has a normal operational mode in which it controls the motor to define the position of the movable member relative to the gravitationally-loaded axis. The servo additionally has a training mode in which it controls the motor to set the movable member to a weightless state. In its weightless state, a user can easily and accurately move the movable member to train the robot.

Abstract: A servomotor in a numerical controller is controlled by automatically switching to either pressure control or position control in association with the command which is smaller from among a command obtained by performing pressure feedback control and a command obtained by performing position feedback control. When switched to pressure control while moving according to a movement command, the output of the movement command is terminated halfway, and the command in the next block is executed, and pressure control of the next command is immediately started. As a result, a wasteful time is eliminated, and a cycle time of the operation can be shortened.

Abstract: This invention is aimed to provide a control system for a lifting device that can lift a load that enables the operator to have a good judgment for handling the load, so that an operator can simultaneously hold and control the load. The control system of the lifting device of this invention controls the rotation of a servo motor 1 so that an operator can move a load in a direction and at a speed that he or she desires by applying a force for controlling to the load. The load is hoisted up or down or maintains its position by means of a rope 2. The rope is wound up or down by the rotation of the servo motor in the forward or the reverse direction. The system comprises a means 3 for measuring a force, a first controller means, a second controller means, and a switching means. The means for measuring measures the total force that is applied at the lower part of the rope caused by a force for controlling of the operator, the mass of the load, and the acceleration of the load.

Abstract: A stage unit includes the following elements. A stator includes a first coil array in which first coils extending in the x direction are arranged in the y direction, a second coil array in which second coils extending in the x direction are arranged in the y direction and which is located next to the first coil array in the x direction, and a third coil array in which third coils extending in the y direction are arranged in the x direction and which covers the first and second coil arrays. A movable member moves above the stator. A controller controls driving of the movable member by allowing current amplifiers to supply current to the coils included in the first, second, and third coil arrays. A switch is capable of connecting the first coil to the second coil.

Abstract: A relatively small, lightweight actuator includes a plurality of motors, an actuation element, a translation member, and a plurality of position sensors. The motors each supply a drive force to the actuation member, causing it to rotate. The translation member is configured, upon rotation of the actuator, to translate to a position. The position sensors sense the translational position of the translation member and the rotational position of each motor. The actuator is relatively small, lightweight, and can withstand the relatively severe environmental conditions and relatively significant levels of vibration and shock associated with many aerospace applications.

Abstract: An electric actuator includes a motion conversion mechanism and a position detector. The motion conversion mechanism converts rotation of a rotary shaft of a motor into linear motion of an output shaft. The position detector detects a permanent magnet M, which moves integrally with the output shaft. A motor control portion controls the motor based on commands from a host command unit. A control program for controlling the motor includes, as control modes, six fluid pressure cylinder modes, according to which the motor is controlled. Specifically, each of the control modes corresponds to one of the cases where the fluid pressure cylinder is controlled by three solenoid valves, or a two-position single solenoid valve, a two-position double solenoid valve, and a three-position double solenoid valve. The motor is controlled according to the selected control mode.

Abstract: A robotic vehicle including a chassis having front and rear ends, an electric power source supported by the chassis, and multiple drive assemblies supporting the chassis. Each drive assembly including a track trained about a corresponding drive wheel and a drive control module. The drive control module including a drive control housing, a drive motor carried by the drive control housing and operable to drive the track, and a drive motor controller in communication with the drive motor. The drive motor controller including a motor controller logic circuit and an amplifier commutator in communication with the drive motor and the motor controller logic circuit and is capable of delivering both amplified and reduced voltage to the drive motor from the power source. In one instance, the drive control module is separately and independently removable from a receptacle of the chassis as a complete unit.

Abstract: A circuit that includes a controller and at least one control I/O pin. When the controller is placed into an initial state, the controller initializes the circuit into an initial operation mode. Depending on whether or not signal(s) satisfying predetermined criteria are applied to at least one of the control I/O pins, the controller will cause the circuit to enter one of two or more post-initial operation modes. Accordingly, by initializing the controller, and by controlling a signal on the control I/O pin(s), the operating mode of the circuit may be controlled. In one embodiment, a given control pin might be configurable to be both analog and digital, depending on the circuit's operation mode.

Abstract: A position controlled drive mechanism including an electric motor, an encoder associated with the rotatable shaft of the electric motor and a controller connected to both the electric motor and the encoder is described herein. The controller includes at least two of the following modes of operation in which the controller is configured as to: a) control the electric motor to rotate the rotatable shaft to a selected position; b) control the electric motor to maintain a current position; c) control the electric motor to rotate the rotatable shaft in a selected direction until an external object hinders the rotation of the rotatable shaft; and d) control the electric motor so as to assist an externally initiated rotation movement of the rotatable shaft detected by the encoder.

Abstract: In one aspect, a control circuit to control a speed of a motor includes a control logic circuit connected to a multifunction port. The control logic circuit is configured to receive a control signal provided at the multifunction port and to provide response signals based on the control signal to place the motor in at least two of a sleep mode, a brake mode and a pulse-width modulation (PWM) mode. The motor control circuit also includes an H-bridge circuit configured to control the motor based on the response signals.

Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

Abstract: Optical disc drives designed for reduced power consumption switch the supply voltage in three stages between first, second, and third power supplies. The reduction in power consumption that is possible in the focusing and tracking drive circuits with three stage switching control is limited. This drive apparatus enables further reductions in power consumption. A drive output tracking signal is generated according to the drive conditions of the focusing or tracking drive circuit. The drive output tracking signal is applied to the drive circuit power supply, and the power supply is controlled according to the drive output tracking signal. A power supply change detector detects sudden changes in the drive output tracking signal, and inputs the detection signal to the DSP controlling the entire system. The DSP determines whether to improve the power supply response by comparison with predetermined conditions, and returns the result to the power supply.

Abstract: An active front steering system includes a motor controller configured to compute a position error from a commanded position value and an actual position value, and then enter one of two modes—a commutation enable mode and a commutation freeze mode—depending upon the value of this position error. The commutation freeze mode applies when the absolute value of the position error is less than a predetermined threshold, and involves sending a set of signals to the motor's phase inputs such that commutation of the motor is prevented and a substantially constant motor hold torque is produced. The commutation enable mode applies when the absolute value of the position error is greater than or equal to the predetermined threshold, and corresponds to normal commutating operating mode.

Abstract: In an implementation of a configurable H-bridge circuit, a high switch is connected to a voltage source and a low switch is connected to ground. The configurable H-bridge circuit includes a first configuration as a motor drive circuit in which the high switch and the low switch are connected together and coupled to drive a motor. The configurable H-bridge circuit also includes a second configuration in which the high switch and the low switch are each configured as a discrete switch that can be coupled as a component switch.

Abstract: The method is for interacting with a wearable interactive device. A pathway extends through an interactive device that is non-slidably attached to the pathway. The pathway has a first end and a second end. At least one end of the pathway is attached to a body of a user. The user accelerates the device in a first direction. A sensor senses the acceleration in the first direction. The sensor triggers a motor to move gears so that the device travels towards the first end of the pathway. The user accelerates the device in a second opposite direction. The sensor triggers the device to move towards the second end of the pathway.