Abstract: The invention relates to a method of creating NC data for machining the interior of an area. The method includes displaying, on a graphic display unit (106), contours (CNT1, CNT2) inputted in order to specify the area (AR.sub.M), recognizing the area (AR.sub.M), which is designated by a graphic cursor by manipulation of a tablet (108) and painting the interior of the area in a predetermined color, subsequently removing the paint in a linear area (AR.sub.1), having a width equivalent to a width of a tool, which connects a machining starting point (P.sub.S) and a machining end point (P.sub.E) designated by the graphic cursor, adopting the machining end point as the next machining starting point, thereafter inputting machining end points in succession, and creating NC data for machining the interior of the area (AR.sub.M) by traversing a finally designated machining starting point and machining end point while moving the tool linearly.

Abstract: A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.

Abstract: An involute interpolation method for use in machining by a numerical control apparatus.A rotational direction (G03.1) of an involute curve, coordinates of an end point (Xe, Ye), a center position (I, J) of a base circle as viewed from a start point, and a radius (R) of the base circle are instructed, from two equations representing the involute curve sequence of points are obtained, and interpolation of the involute curve is performed while interpolating those points in a range of the angle .theta. corresponding to the start point on the involute curve to the end point thereon.The increment of .theta. is decremented in proportion to the increment of the angle owing to the factor K/ (R.multidot..theta.), so that the interpolation is performed in such a manner that the speed in the tangential direction is made at constant, whereby a machining speed of the involute curve is maintained at constant.

Abstract: In an automatic lathe, a touch trigger probe (4) is calibrated (datumed) against an item (6) having a known reference dimension, instead of against the lathe chuck (2) or against a surface machined in a workpiece. The calibrated probe is then used to touch two diametrically opposed points of a feature (11) centered with respect to the axis of rotation of the chuck (2). From the mean of the co-ordinates of the two points touched, there is calculated an offset related to the difference between the assumed axis of rotation and the actual axis of rotation. This calibrates the machine to compensate for any drift between the actual axis of rotation and the machine's measurement origin.

Abstract: A method and an apparatus for positioning a workpiece to a pallet on a working line. The line transports plural kinds of workpieces. Plural positioning pins are provided at various locations on each pallet to enable all the plural kinds of the workpieces to be carried by the pallets. Each positioning pin has a set position and a reset position. All positioning pins are first reset to the reset position. Thereafter, a selected positioning pin is set to the set position to accommodate a particular kind of workpiece. The positioning of the workpiece is accomplished by fitting a positioning hole defined by the selected workpiece onto the selected positioning pin.

Abstract: A pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

Abstract: The designated speeds of a plurality of blocks are read beforehand, deceleration start positions are calculated to maintain the servo system at a speed below the designated speeds of the blocks read beforehand at the start positions of the previously read blocks, and the servo system is decelerated from the calculated deceleration start positions, whereby the servo system speed is kept below the designated speeds of all of the blocks and the deceleration of the speed of the servo system is controlled with a high degree of accuracy.

Abstract: An industrial robot includes a movable arm and an electric motor driving the arm. A current flowing through the motor is controlled so that the arm is moved into predetermined positions and is balanced in the predetermined positions sequentially. A device memorizes values of the motor current at which the arm is balanced in the respective predetermined positions. A target value of the motor current is calculated on the basis of the memorized motor current values. The target motor current value allows the arm to be balanced in a given position.

Abstract: A velocity control apparatus according to the invention controls velocity when moving the movable element of a robot hand or NC machine tool and includes velocity override control for changing the movable element command velocity at a predetermined rate, and acceleration/deceleration circuits (2X, 2Y) of a time constant inversely proportional to a velocity set by the override control. When the amount of a velocity override is changed, the time constant of the acceleration/deceleration circuits (2X, 2Y) is altered in dependence upon the commanded velocity, and an accumulated quantity of command pulses at the time of acceleration/deceleration is controlled so as to be held constant. This makes it possible to control movement at a predetermined velocity without changing the trajectory of the movable element at a corner portion.

Abstract: A numerical control can be performed on one or more independently controllable objects on the basis of existence of such objects and the control itself is performed selectively on the axis and other objects which are not axes. Therefore, it is possible to control one to all of various objects which are to be operated simultaneously independently, by means of a single numerical control apparatus. Thus, a plurality of objects can be controlled independently from other objects, resulting in high producibility of products.

Abstract: A velocity control apparatus according to the invention is used in order to acccept feedback data, for velocity control of a servomotor or the like. The disclosed apparatus provides velocity information in the form of discrete data from a pulse coder or the like, and forms a prescribed control command by digitally processing the data in a microprocessor. In a case where the above mentioned data are sampled at a predetermined sampling rate during a processing period so as to accommodate processing by the microprocessor, a lag element results when the data are accepted within the computer as velocity information which causes an inaccuracy in servomotor control. Accordingly, a detection signal forming unit (5) processes the discrete count data as the sum of count data synchronized to the sampling rate which is the processing period subdivided into a fraction, in which fraction the denominator is an integer.

Abstract: An industrial robot's articulate device comprises: a first arm; a second arm rotatably connected to the first arm; an electric motor for rotating the second arm; a transmission shaft rotatably supported by the first arm for transmitting the output of the electric motor to the second arm; and a detecting mechanism for detecting the position of the second arm with respect to the first arm. The detecting mechanism includes a dog secured to the transmission shaft, a swing lever swingably coupled to the first arm to pose in alternative postures according to the direction of rotation of the dog and a detector for detecting the alternative postures of the swing lever. The detector is constituted by a pair of limit switches, which are provided on both sides of the swing lever to detect the alternative postures thereof.

Abstract: A digital position and velocity feedback system is provided for a multiaxis robot control and it employs an LSI chip to process incremental position signals for position change and velocity computations. At low speeds, velocity is computed from the reciprocal of elasped time. At higher speeds, velocity is computed from the rate at which incremental position signals are generated.

Abstract: Selective compliance in up to six degress of freedom in a magnetically levitated fine motion device, or robot wrist, with limited motion in X,Y,Z, ROLL, PITCH, YAW, is provided by controlled actuation currents applied to six electrodynamic forcer elements. The wrist has a stator support base defining a dual periphery, carrying a number of stator magnet units. A shell flotor unit nests within the stator support base dual periphery, and carries forcer coils at locations corresponding to respective magnet units. The magnet unit and related flotor coil form a forcer element. There are a number of forcer elements. The vector sum of all the translational forces and rotational torques established at the forcer elements determines the X,Y,Z, ROLL, PITCH, and YAW motion of the flotor. The flotor carries an end effector which may be a tool. Position and orientation of the flotor is monitored by light emitting diodes and lateral effect cells.

Abstract: Circuitry is provided for applying a pulse width modulation (PWM) scheme to a brushless DC motor that operates as a robot axis drive. A pulse width modulation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The brushless drive application circuitry provides for application of the PWM control outputs to commutate the motor energization from winding pair to winding pair.

Abstract: A woodworking apparatus includes a computer based control unit for absolute positioning of tool units located in longitudinally spaced relationship to one or both sides of a conveyor. Absolute position sensors are connected to each axis of tool movement. Each axis has a separate permanent magnetic motor to position the tool on the corresponding axis. A multiplexing board selectively connects each sensor to the computer and a multiplexing position motor drive board selectively connects the corresponding motor in a closed loop absolute position control. Each position sensor includes spaced Hall cells secured to a movable sensor head, with limit signals hardwired via the multiplexing board directly to the control system. The PM motor is a low cost motor which rapidly drives the tool unit in accordance with the output of the sensor. The motor drive system includes a fast drive mode in an open loop for rapidly moving the several tool units and sequentially to slowly move the tools to the final position.

Abstract: In a method for the operation of a typewriter, printer or the like with a stepping motor for the paper feed and a basic step inputting device, to accomplish feeding of the paper by a fraction of a line spacing, the feeding position set at the time of cutting off the machine is preserved by (1) storing the energization pattern last applied or information descriptive thereof in a value-preserving RAM at a first address, (2) storing a bit pattern contained in the control program in identical form at a second address of the value-preserving RAM, and (3) comparing the bit pattern of the control program which was stored in the second address of the RAM, when restarting the machine, with the bit pattern in the control program. The control program is stored preferably in a ROM of the central control unit, to verify as above the validity of the energization pattern stored in the RAM under the first address.

Abstract: A rotary actuator includes a case, a shaft rotatably supported in the case, a moving coil with conductors extending radially from the shaft as a center, a support which supports the moving coil on the shaft, facing magnets set with facing unlike poles arranged alternately in the direction of motion of the moving coil on either side of it and generating a magnetic flux which crosses the moving coil conductors, a device for restricting rotation of the shaft such that the conductors of the moving coil do not move outside the magnetic flux generated by the magnet set, and a drive unit for sending electric current through the moving coil. The rotary actuator may further include an assisting device for assisting shaft rotation which includes moving magnets on the side edges of the support and fixed magnets installed in the case facing the moving magnets, either the moving or fixed magnets being electromagnets.

Abstract: An industrial robot device in which deviation between an offline-teaching instruction and an actual movement of a robot according to the instruction can be eliminated. The elimination of deviation is accomplished by adjusting absolute X, Y and Z axes of software for driving the robot with respect to those of a processing machine which operates together with the robot.

Abstract: The pusher mechanism (14) associated with an I.S. glassware forming machine (10) are controlled by a controller (30) which provides control signals which cause the mechanisms (14) to operate. The controller senses the passage past a particular location of ware (1 to 6) of ware as it is transported by a conveyor (16) on to which the pusher mechanisms (14) transfer the ware. The controller determines the spacing (s1 to S5) on the conveyor (16) of ware from different sections (12) of the machine (10), compares the spacing with a predetermined, desired, spacing and, in the event that said spacing differs from said predetermined spacing by more than a predetermined tolerance, advances or retards the supply of control signals to at least one of the pusher mechanisms (14) which transfers the ware concerned.

Abstract: A servo control operates in a control loop for a robot control system and performs control support tasks and calculation tasks for the control loop for all of the robot joint motors. The servo includes first and second microprocessors. The first microprocessor performs calculation tasks including the computation of output control commands from stored algorithms for the one control loop for each joint motor. The second microprocessor supervises the operation of the servo control and performs servo control support tasks in the one control loop for each joint motor including the routing of control command, status and feedback data to and from the first microprocessor.A communication interface couples the first and second microprocessors so as to enable the servo control to operate the one control loop for each joint motor and control the controlled variable for the one control loop.The communication interface includes a first memory bank and a second memory bank.

Abstract: The invention relates to a target tracking system comprising two identical stationary and mutually distant sub-systems (5, 6), each sub-system including a laser source (7, 8) and two perpendicularly pivotable mirrors (10, 11), such that a laser beam can be directed by each sub-system towards the moving target (4). Each sub-system further includes a lateral effect photodetector (18) receiving the light beam after its reflection on the target, which is a reflecting target (4) of the cat's eye type. The pivot positions of the mirrors (10, 11) are adjustable in accordance with control signals derived from the detector (18) such that the respective beam tends to approach the center of the target (4) and that it is reflected in itself. Each mirror is pivoted by a brushless DC motor (12, 13). The common pivot shaft of the motor and of the mirror is further coupled to a digital angle encoder (16, 17) which delivers signals to calculator means (27, 29) for evaluating the present 3D coordinates of the target.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: An interface system for a servo controller has a speed controller (7), a current controller (9), etc., which have heretofore been disposed on the side of a servomotor, disposed in a control circuit (15) on the side of an NC apparatus. The present position and speed data from the servomotor are fed back and are stored in a common RAM, and control signals for a driver circuit, such as an inverter (12), are supplied from the NC apparatus side to the servomotor side. A system bus on the NC apparatus side is directly connected to a local bus on the servomotor side.

Abstract: A method of creating NC data for a complex curved surface (10) which has a combination of at least two three-dimensional curved surfaces (11, 12). The NC data creation method includes inputting data specifying each of the curved surfaces (11, 12) and data for specifying cutting path patterns (a pattern 21 of radiating straight lines and a pattern 22 of parallel straight lines) for respective ones of the curved surfaces. Points are obtained discretely from a cutting starting point (P.sub.i) of one curved surface (11) to a boundary point (R.sub.i) with the other curved surface (12) along the radiating-type cutting path pattern (21) set for this curved surface. Points are also obtained discretely on the other curved surface along the cutting path pattern (22) of parallel straight lines specified with respect to the other curved surface (12). A pick-feed is performed points are obtained discretely along the cutting path pattern on each of the curved surfaces in similar fashion.

Abstract: A method and an apparatus for automatic zero adjustment of an injection-molding machine, in which an axis driven by a servomotor can be automatically returned to its origin with accuracy and speed. When a one-revolution signal is produced after the axis reaches a deceleration position, a preset coordinate position of a reference point is written in a current-value register. Subsequently, when the axis driven toward an absolute position reaches the absolute position, the preset coordinate position of the reference point is corrected with use of a correction value calculated on the basis of a known coordinate position of the absolute position and the register value. When the axis driven toward the reference point reaches the corrected position, the preset reference point coordinate position is written in the current-value register.

Abstract: The present invention relates to a control system for an engagement pin employed in a drum-type weft storage unit which is mainly employed in a jet-loom for storing the weft and for measuring the same in length. A novel control system for an engagment pin employed in a drum-type weft storage unit is provided. An engagement-time is compensated on the basis of a difference in time between a target-time later than the engagement-time of the engagement pin by a normal time-lag, to make it possible that the engagement-time is always set to be optimum in spite of the existanece of variation in shuttling speed of the weft, so that it is possible to keep the variation in length of the delivered weft minimum while the weft feeler is employed in place of the disengagement sensor.

Abstract: A method and apparatus are disclosed for providing continuous position information in a position servo system having position information signals 162, 164 coming from encoder 160 and which provide indirect position information over selected ranges, and a reference position information signal 153 coming from transducer 140 and which provides reference position information at discrete intervals. In the preferred embodiment, the distances between selected positions of two position information signals are combined, and in response to position offset information obtained from the reference position signal 153, thereafter used in selecting which of the position information signals 162, 164 will be used for determining position information. The position determination techniques are further employed in positioning the transducer apparatus 140 relative to a rotating storage medium 142 through the use of an externally commutated positioning apparatus, such as motor 100, under control of a processing element 30.

Abstract: Device for setting the working point of a tool with respect to a reference point in an NC machine tool with a tool slide system and a path measuring system for the tool slide motion which is connected to a machine control system, and with a control sensor for transmitting a correction signal to the machine control system. The control sensor can be brought to the reference point, up to and over which the tool point can be moved by program control, starting from a starting point of the tool slide. The starting point of the tool slide and the reference point are spaced at a specified distance from one another and distances of the tool point from the starting point of the tool slide can be balanced by the machine control system against reference distances which can be evaluated by the machine control system on the basis of the correction signal and also on the basis of path measurement signals of the path measuring system.

Abstract: A multi-mode force control apparatus and circuit for applying a predetermined time dependent force to a workpiece having a variable compliance. The workpiece is supported by an anvil and an actuator is used for applying force to the workpiece. The multi-mode force control apparatus has a position mode sequence that provides a composite position command signal characterizing the predetermined time dependent position of the hammer. A position servo amplifier provides an input control signal to move the hammer from a retracted position to a predetermined first position close to the workpiece. The hammer is then moved slowly into contact with the workpiece. A force reference command signal representing the predetermined time dependent force is increased to a predetermined value. A force signal from a force transducer then rises to a value of voltage representing an ultimate actual force value. A force hold mode timing sequence provides a force hold mode time interval.

Abstract: In a robotic assembly system including a robotic device composed of a base member, a plurality of movable members and joint mechanisms coupling the members in a sequence extending from the base member such that a first one of the movable members is supported by the base member and is rotatable relative to the base member about a respective axis and each of the other movable members is supported by, and rotatable about a respective axis relative to, a respective preceding movable member in the sequence, with the last movable member in the sequence being an end member for supporting a workpiece which is to be brought to a selected position relative to a fixed body by movement along a reference plane associated with the body, the selected position corresponding to a set of reference angular positions each of which defines an angular position of a respective movable member about the respective axis thereof, the joint mechanisms are controlled by a computer system coupled thereto in such a manner that one of the m

Abstract: A method and apparatus for rotating an antenna, including a keypad is used to first program a controller for storing a plurality of individually selectable positions for the antenna, a particular key of the keypad representing a programmed position for the antenna, whereafter programming the keys of the keypad are individually depressed for commanding the controller to operate a motor driven rotator for moving the antenna in a clockwise or counterclockwise direction to the position associated with the momentarily depressed key. Also, visual indicators are arranged in a compass configuration for indicating the positioning of the antenna as it rotates, and selectively indicating the rest position of the antenna.

Abstract: Servo spool control for tape web positioning is disclosed wherein the position of the web between two spools may be accurately known and controlled and the tension on the web maintained. To accomplish such control, the motors driving the respective spools are driven by dynamic torque signals in response to change in position commands from a computer controller wherein the dynamic torque signals are correlated to the inertial torque and frictional torque of the spools and their drives.

Abstract: A motor control apparatus for a sewing machine comprising a stop device for generating a stop signal instructing stoppage of an alternating current motor, a sensor for sensing a predetermined position of a needle and outputting a position signal thereof, and a stop control responsive to the stop device and the sensor means for controlling a rotating field of an alternating current motor to stop in response to the stop position of the needle when the stop signal and the position signal are received.

Abstract: In the magnetic disc device having a Hall element to detect the index position of a magnetic disc as a magnet on the rotary shaft of an electric motor comes across the Hall element, a circuit for amplifying the output of the Hall element is fabricated in a common unit of a drive circuit for the motor.

Abstract: A drive control device of an injection molding machine which uses a servo motor (M1, M2, M3) as a drive source. The drive control device can prevent the injection molding machine from becoming uncontrollable when the serve performance of the servo motor is degraded, and prevent the operation speeds of the respective functions of the injection molding machine from exceeding a preset value. The servo motor (M1, M2, M3) is driven in accordance with an output from a servo circuit (10, 11, 12) including an error register (21) for storing a difference between a move command (a) from a control unit (1) and an actual shift amount (b) of the servo motor. When a value stored in the error register is read out by the control unit, it is compared with a predetermined value, and if discriminated to exceed the predetermined value, supply of the move command from the control unit is temporarily stopped.

Abstract: The present invention relates to a method of restoring a rotary axis to a reference point. A workpiece coordinate system serving as a programming reference with respect to a machine coordinate system is decided, numerical control (NC) program data are created including at least NC data specifying an angle r between an origin (WR) of the workpiece coordinate system and a reference point (MR) in the machine coordinate system, and rotational direction positioning data based on the workpiece coordinate system, and a rotary axis is positionally controlled based on the NC program data. The method includes updating present positions Pm, Pw of a fixed point Q on a rotary axis (11) in the machine coordinate system and workpiece coordinate system in dependence upon rotation of the rotary axis, obtaining an angle a that satisfies the equationsPm=360.multidot.n+a, Pw=360.multidot.n+a-rin response to a reference point restoration command, then rotating the rotary axis by .vertline.a.vertline..sup.

Abstract: An improved motor cntrol for banknote handling apparatus is described. An improved stacker pusher motor arrangement has a defined cycle of operation. The time it takes the stacker pusher motor to complete a predetermined portion of this cycle is measured. A braking time is computed from the measured time, and a braking control signal dependent thereon is applied to the stacker pusher motor to stop the stacker pusher motor at the appropriate position. An improved banknote transporting arrangement measures the time needed for a banknote to travel from a first point to a second point. A braking time is computed from the measured time and an appropriate braking control signal is applied to stop the banknote at the appropriate position.

Abstract: A digital robot control is provided with digital position, velocity and torque control looping to operate joint motors associated with multiple axes of the robot. Motion programming includes planning and trajectory programs for generating position commands for the control looping on the basis of acceleration, slew and deceleration values that specify robot program specifications for timed moves.

Abstract: A digital control for a robot having a plurality of arm joints includes an electric motor for driving each of the robot arm joints and a power amplifier operable to supply drive current to each motor. Pulse width modulators generate digital control signals for the power amplifiers.Feedback control loop means for each joint motor includes at least position, velocity and torque control loops operable to control the associated power amplifier. Motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes.A position/velocity microprocessor control executes a planning program to generate a time profile including acceleration, slew and deceleration time segments for implementing each commanded robot program move.

Abstract: A minimum time path generation routine for a motion control system, where the routine is uniquely adapted for use in a digital mechanization.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: A feedforward path following routine for a motion control system, where the feedforward parameters are adaptively adjusted in real time during system operation for substantially error-free tracking of a third-order command path.

Abstract: A drive circuit for a step motor having a multi-phase winding arrangement comprises means for generating a control signal which represents a fixed value during acceleration and deceleration periods of the step motor and functions as repetition pulses during a constant speed period thereof, switch means responsive to the control signal from the control signal generator means, power supply means responsive to an on-off operation of the switch means to deliver a drive current to respective phase windings of the step motor, and comparator means for comparing an actual current flowing through each of said phase windings with a reference value to deliver an output indicative of a compared result to the switch means.

Abstract: A servomotor drive control system in which current control of a servomotor is performed by a microprocessor on the basis of a current feedback signal of the servomotor an interrupt generating circuit interrupts the microprocessor a circuit for storing an interrupt period and a current command applied to the servomotor are also included in the system. The arrangement is such that an interrupt period is set in dependence upon the rating of the servomotor being driven and controlled.

Abstract: A control unit for a moving body such as an optical system of a copying machine includes detection means for detecting a moving status of the moving body and control means for controlling the movement of the moving body in accordance with a detection output of the detection means. The control means contains data corresponding to the detection output to control the moving body in accordance with the detection output.

Abstract: The trajectory of an electromagnetic actuator is adjusted by pulse-width-modulating feedback control of the waveform which energizes the coil. As applied to actuators for impact printing, the objectives of the control scheme are to regulate the armature's time of flight and its velocity at impact, in spite of disturbances, thereby to provide higher-quality printing at increased speed. Each actuation is produced by energizing the coil with a series of pulses. Regulation is accomplished under microprocessor control by measuring the state variables of the system--armature position, armature velocity, and coil current--at the beginning of each pulse, comparing these measurements to ideal values, and modulating the width of the pulse as a function of the errors. In general, the appropriate functional relationship between the measured errors and the pulse-width modulation is nonlinear, and is different for each pulse in the series. Systematic means for determining these relationships are given.

Abstract: A disc drive system is disclosed including a data storage disc having a plurality of data storage tracks. Each track has a centerline, the centerlines of adjacent tracks being spaced by a fixed track space distance. The disc surface also includes wedge servo sectors; servo data in each sector includes first servo information stored at a position on one side of said data track centerline and one-half said track space distance from said centerline, and second servo information stored at the other side of said data track centerline and one-half of said track space distance from said centerline. Positionable accessing is provided for reading the servo data and for generating servo signals representing the first and second servo burst information, to positioning said transducer accurately.

Abstract: A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.

Abstract: A mirror position control device for use in an automobile has mirror angle adjusting motors for adjusting the angle of the mirror to a position previously determined by an individual driver, a memory unit for storing the angles of the mirror desired by each of a plurality of drivers, an angle detector for detecting the actual angle of the mirror, and a control unit for comparing the actual angle as detected by the angle detector with the predetermined angle of an individual driver stored in the memory unit and for applying a control signal to the mirror angle adjusting motors to adjust the angle of the mirror to the optimum angle suited for the individual driver.