Abstract: An X-ray fluoroscopic imaging apparatus executes an operation of rotating a C-arm continuously using a sequence mode function. The apparatus including a C-arm 9 that supports an X-ray tube 5 and an X-ray detector 7 facing each other, a memory storage element 37 stores a plurality of positions information relative to the C-arm 9 corresponding to an order information related to rotation of C-arm 9 to such a position as a sequence information, a touch panel 43 displays the position information included in the sequence information in parallel along the order of rotation of the C-arm 9, and a display control element 55 controls the touch panel 43 to display the next target rotation information, at which the C-arm 9 irradiates the X-ray, among the position information included is a sequence information SQ1 in a predetermined fixed region R1 of the touch panel 43.

Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

Abstract: A machine tool for performing a cutting process on a workpiece with a cutting tool, includes: a pre-machining shape acquisition unit configured to acquire the shape of the workpiece before cutting, as a pre-machining shape; a target shape acquisition unit configured to acquire a target shape of the workpiece after cutting; a differential shape acquisition unit configured to acquire a differential shape between the pre-machining shape and the target shape; and a machining path setting unit configured to set machining paths so as to perform the cutting process on the differential shape only.

Abstract: A damper for a semiconductor metrology or inspection system includes a pair of parallel plates with a fluid with a variable viscosity retained between plates. At least one wire is disposed between the plates, which may include one or more sets of lands and grooves. In some implementations, both plates include intermeshed lands and grooves. A controller is configured to provide a current to the at least one wire in order to adjust an electromagnetic field or a current through the fluid. The fluid may be a magnetorheological fluid or an electrorheological fluid in which the viscosity of the fluid is variable based on the electromagnetic field or current through the fluid. The controller varies the current applied to the wire to adjust the viscosity of the fluid to alter the damping of the semiconductor metrology or inspection system based on movement of the stage.

Abstract: Example embodiments relate generally to surgical systems. The system may include a first arm assembly having a first arm assembly body. The system may also include a distal elbow joint assembly secured to a proximal end of the first arm assembly. The distal elbow joint assembly may be configurable to provide the first arm assembly with a first degree of freedom relative to a first axis. The system may also include a proximal elbow joint assembly secured to the distal elbow joint assembly. The proximal elbow joint assembly may be configurable to provide the first arm assembly with a second degree of freedom relative to a second axis. The second axis may be different from the first axis. The first degree of freedom may be different from the second degree of freedom.

Abstract: An apparatus for measuring a surface of a workpiece has a multi-link articulated arm and a roughness sensor carried by the arm, which includes a sensing element linearly displaceable along an advance direction and elastically deflectable along a deflection direction, and which has a coupling link to connect it to a movable carrier of a coordinate measuring apparatus or of a robot. A first arm portion is rotatable relative to the coupling link about a first axis of rotation. A second arm portion is rotatable relative to the first arm portion about a second axis of rotation and arranged between the first and third arm portion which is rotatable relative to the second arm portion about a third axis of rotation, and to which the roughness sensor is fastened. The deflection direction is arranged parallel to the third axis while the sensing element is displaced linearly along the advance direction.

Abstract: An automatic parameter adjustment device capable of quantitatively determine the degree of importance of a processing time and a processing accuracy, and effectively adjusting a parameter in accordance with a processing condition. The adjustment device includes: a parameter changing part which changes a control parameter; a test program executing part which transmits a test program to a numerical controller for executing the test program; an execution result obtaining part which obtains an execution result of the test program; a storing part which stores the execution result and the parameter corresponding thereto; a weighting part which determines weighting coefficients of the processing time and processing accuracy as evaluation criteria based on input or setting by an operator; and a parameter extracting part which evaluates the execution result based on the weighted evaluation criteria, and extracts an optimum parameter from the storing part based on the evaluated execution result.

Abstract: An active user interface system includes a gimbal assembly that is configured as a dual-input/single-output differential mechanism. The differential mechanism implements a speed reduction from the inputs of the differential mechanism to the output of the differential mechanism. Speed reduction enables the maximum drive torque that is supplied to the user interface about one rotational axis to be greater than the maximum drive torque that is supplied to the user interface about another, perpendicular axis.

Abstract: If it is predicted that the sum of the output of a servo motor and the output of a spindle motor exceeds power supplied by a rectifier unit, during a cutting operation, a motor drive control device controls alternating-current power of a first inverter unit so as to reduce the feed speed of at least one feed axis and controls alternating-current power of a second inverter unit so as not to limit torque of the spindle motor. Further, if it is predicted that the sum of the output of the servo motor and the output of the spindle motor exceeds power supplied by the rectifier unit, during an operation other than the cutting operation, the motor drive control device controls the alternating-current power of the second inverter unit so as to limit the torque so as not to reduce the feed speed.

Abstract: Disclosed are various systems and methods for assessing and improving the capability of a machine tool. The disclosure applies to machine tools having at least one slide configured to move along a motion axis. Various patterns of dynamic excitation commands are employed to drive the one or more slides, typically involving repetitive short distance displacements. A quantification of a measurable merit of machine tool response to the one or more patterns of dynamic excitation commands is typically derived for the machine tool. Examples of measurable merits of machine tool performance include dynamic one axis positional accuracy of the machine tool, dynamic cross-axis stability of the machine tool, and dynamic multi-axis positional accuracy of the machine tool.

Abstract: Methods and apparatuses for modifying a stage position and measuring at least one parameter of a motor connected with a stage during a commanded stage position are described. In one embodiment of one aspect of the invention, the motor is configured to move the stage in a first direction in response to the at least one parameter and determine whether the at least one parameter is within a threshold range.

Abstract: Apparatus, having multiple motor modules, has an MCU module. Each motor module has an electronically controlled motor. The MCU module has an MCU and an interface for connecting to a bus from a CPU. In use the MCU module receives control signals from the CPU and in turn instructs a selected one of the motors to operate.

Abstract: A machine motion control system includes a number of moving parts for securing test electronic devices, a machine and an axis control card mounted on the machine. The machine includes a number of servo modules and a number of sensing units. The servo modules drive and control the corresponding moving parts on the machine. Each sensing unit is electrically connected to a corresponding moving part; the sensing units are operable to sense and transmit location information of the moving parts and the machine. The axis control card is electrically connected to the moving parts, the machine, and the sensing units. The axis control card receives location information of each moving part and processes the location information to generate a corresponding command signal, and transmits the generated command signal to the servo modules to control and adjust the moving parts.

Abstract: A numerical controller including a storage device for storing tabular data configured to operate one arbitrary axis, in which a position of a spindle or an axis as a control object is caused to correspond to a reference value composed of time or the position of a reference spindle or axis. A reading device is provided for successively reading a reference value in the tabular data and a position of the spindle or the axis as control object corresponding to the reference value from the storage device, and controls the position of the spindle or the axis as control object based on the reference value read by the reading device. An assignment device is provided for assigning the axis to be operated in accordance with the tabular data, and a starting device for starting the tabular data stored in the storage device, thereby causing the axis assigned by the assigning device to operate.

Abstract: Methods, apparatus, and systems are disclosed for identifying force-ripple and/or side-forces in actuators used for moving a multiple-axis stage. The identified force-ripple and/or side-forces can be mapped, and maps of corresponding position-dependent compensation ratios useful for correcting same are obtained. The methods are especially useful for stages providing motion in at least one degree of freedom using multiple (redundant) actuators. In an exemplary method a stage member is displaced, using at least one selected actuator, multiple times over a set distance in the range of motion of the subject actuator(s). Each displacement has a predetermined trajectory and respective starting point in the range. For each displacement, respective section force-command(s) are extracted and normalized to a reference section force-command to define a section compensation-ratio.

Abstract: The controller includes a position commander and an error corrector. The position commander outputs a position command value for moving a moving mechanism. The error corrector includes a feedforward controller and a compensator calculator. The feedforward controller performs a feedforward control of the moving mechanism based on the position command value outputted from the position commander and includes a compensator. The compensator calculator calculates a value to be set as the compensator of the feedforward controller based on the position command value outputted from the position commander.

Abstract: Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.

Abstract: A support device adjustable in 3-DOF includes a base, a pitching arm, a rolling arm, a yawing arm, a pitching drive unit, a rolling drive unit, a yawing drive unit, and a controller. The rolling arm rotatably interconnects the pitching arm and the yawing arm. The pitching, rolling, and yawing drive units are configured for automatically driving the pitching, rolling, and yawing arms about pitch, roll, and yaw axes respectively. The roll axis is perpendicular to the pitch and yaw axes. The controller is configured for controlling the pitching, rolling and yawing drive units in response to control inputs. In use, a display panel can be attached to the yawing arm and automatically pitch, roll, and/or yaw by the respective drive units under control of the controller, to achieve an optimum viewing angle.

Abstract: The invention relates to a wireless manual pulse generator that includes a central processing unit, a magnification selector, a pulse generator, an axis selector, and a wireless transmission module. The magnification selector is electronically connected to the central processing unit. The pulse generator is electronically connected to the magnification selector. The axis selector is electronically connected to the central processing unit. The wireless transmission module is electronically connected to the central processing unit. The central processing unit is configured to process a signal generated from the magnification selector or the axis selector. The wireless transmission module is configured to deliver the signal processed by the central processing unit to a CNC machine via wireless communication.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter, which receives a reaction force generated when the first actuator drives the object, and a controller which calculates X- and Y-direction reaction forces and a moment reaction force on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object, which are to be received by the reaction force counter when the object is driven by the first actuator, and controls the second actuator so as to cancel the reaction forces and the moment reaction force.

Abstract: A conveyer for transporting a box and a conveyer for transporting a bottle are driven along a follow-up target axis and a follow-up axis, respectively. The follow-up axis is accelerated from a synchronization start position, and, when the follow-up axis velocity catches up with the conveyer, performs the constant velocity operation. An advanced operation, performed by an asynchronous axis (moving the bottle closer to the box), is started before synchronization completes, and is completed when synchronization completes, then immediately an operation by a synchronous axis (follow-up target axis or follow-up axis) is started (insertion operation). The point of time when the advanced operation is started is determined by processing of the numerical controller, as a point of time when the time required for the follow-up axis in the current status to reach the synchronization completion status becomes the same as the time required for the advanced operation (preset).

Abstract: A movement control apparatus for a moving member, includes: a drive unit that moves a moving member by rapid traverse on a first axis and a second axis intersecting the first axis, and overlaps the rapid traverse movements in the two axis directions to thereby allow the moving member to move around the periphery of a given area; a reference arc setting unit that sets a reference arc inscribed in the first and second axes; a timing setting unit that sets an overlap movement start timing for the rapid traverse of the moving member based on the reference arc when switching the moving member from the first axis to the second axis; and a control unit that controls the operation of the drive unit to move the moving member at a timing set by the timing setting unit.

Abstract: A machine includes an operator seat and an armrest adjacent the operator seat. The machine may also include a control system, which may include a control handle extending at least partially upward from the armrest. The control system may also include a force feedback device drivingly connected to the control handle and operable to supply feedback force to the control handle. The force-feedback device may include at least one of an actuator or a brake. Additionally, the control system may automatically adjust the magnitude of the feedback force supplied to the control handle by the force feedback device in at least some circumstances.

Abstract: At the time of two-dimensionally moving a mobile body of a machine tool, to a predetermined position, a speed of the mobile body is gently increased/decreased at an acceleration/deceleration equal to or less than the maximum acceleration/deceleration, from the time when the mobile body reaches a direction change point. Therefore, the moving time is shortened and a rapid acceleration/deceleration may be avoided.

Abstract: This invention discloses a method and system for measuring a CNC machine. The system comprises a platform, a driving module, a set of optical scales, and a detection module. The platform is driven by the driving module. In addition, the driving module further comprises a set of encoders. As the driving module drives the platform to move to a position by a first displacement, the encoders indicate the first displacement. The optical scales indicate a second displacement by which the platform is driven by the driving module. The detection module detects the difference between the first displacement and the second displacement.

Abstract: In accordance with one embodiment of the invention a control system for controlling performance of a device is provided. The control system includes a controller system and a deadband compensator connected to the controller. The deadband compensator compensates for error performance of the device while the device is in a static mode. The control system also includes a detector connected to the controller and is adapted to detect or determine movement of the device. If movement is detected or determined the deadband compensator is turned off or otherwise disengaged.

Abstract: Devices and related methods of controlling relative movement between a tool of a machine tool and a work piece including dividing a total desired relative tool to workpiece movement in a direction of an axis into a first movement component and a second movement component; controlling the first movement component with a first closed-loop axis control; determining a resulting movement quantity corresponding to the first movement component; feeding a position error from the first closed-loop axis control to the second closed-loop axis control controlling the second movement component in a closed-loop with the second closed-loop axis control, including adjusting for the position error of the first movement component.

Abstract: An insulator for a sensor arrangement of a laser processing machine comprises an outer insulating part of plastics material for electrical shielding and an inner shielding part of a non-conductive heat-resistant material for shielding against laser irradiation and/or heat.

Abstract: A machine includes an operator seat and an armrest adjacent the operator seat. The machine may also include a control system, which may include a control handle extending at least partially upward from the armrest. The control system may also include a force feedback device drivingly connected to the control handle and operable to supply feedback force to the control handle. The force-feedback device may include at least one of an actuator or a brake. Additionally, the control system may automatically adjust the magnitude of the feedback force supplied to the control handle by the force feedback device in at least some circumstances.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter which receives a reaction force generated when the first actuator drives the object, and a controller which calculates X- and Y-direction reaction forces and a moment reaction force on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object, which are to be received by the reaction force counter when the object is driven by the first actuator, and controls the second actuator so as to cancel the reaction forces and the moment reaction force.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter, which receives a reaction force generated when the first actuator drives the object, and a controller which calculates X- and Y-direction reaction forces and a moment reaction force on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object, which are to be received by the reaction force counter when the object is driven by the first actuator, and controls the second actuator so as to cancel the reaction forces and the moment reaction force.

Abstract: An optical axis controller and method for headlamps for a vehicle where the swiveling lamps are not driven due to the minute steering operation of the driver. The steering angle of the steering wheel is detected by using, for example, a steering angle signal from a steering angle sensor. A desired light emission direction is computed based on the steering angle and a hysteresis value and the lamps are driven to an actual light emission direction matching the desired light emission direction.

Abstract: A movement control apparatus for a moving member, includes: a drive unit that moves a moving member by rapid traverse on a first axis and a second axis intersecting the first axis, and overlaps the rapid traverse movements in the two axis directions to thereby allow the moving member to move around the periphery of a given area; a reference arc setting unit that sets a reference arc inscribed in the first and second axes; a timing setting unit that sets an overlap movement start timing for the rapid traverse of the moving member based on the reference arc when switching the moving member from the first axis to the second axis; and a control unit that controls the operation of the drive unit to move the moving member at a timing set by the timing setting unit.

Abstract: An ‘interval’ in which the synchronization status between the movable axes subject to synchronous control is monitored, an equation between the movable axes in the ‘interval’, and an ‘allowable displacement’ for the positional relationship obtained with this equation and the actual positional relationship are set in advance. The ‘start condition’ and ‘termination condition’ for synchronous status verification processing are set with the master position and the like. When the start condition for synchronous status verification processing is satisfied, it is detected whether or not the actual position and the position obtained with the equation are within the range of the allowable displacement based on the position of the movable axes. If not within the range of the allowable displacement, operation set as ‘operation to be executed when the allowable displacement is exceeded’ is executed.

Abstract: In one embodiment, a flexure stage comprises a base, a stage, a positioning mechanism, and a control device. The base and stage have first and second portions that are spaced apart from each other. The positioning mechanism is coupled between the base and the stage. The positioning mechanism includes an actuator and a flexure structure engaged by the actuator. The flexure structure includes base links coupled to the first base portion, stage links coupled to the first stage portion, and an intermediate link coupled to both the base and stage links. All structures are coupled by flexure hinge connections. The control device generates a control signal to change position of the stage by sending a control signal to the actuator which provides a force to elastically deform the flexure structure and correspondingly move the stage.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter which receives a reaction force generated when the first actuator drives the object, and a controller which controls the second actuator on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object so as to cancel, by the second actuator, the reaction force to be received by the reaction force counter when the object is driven by the first actuator.

Abstract: A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

Abstract: A drive unit for controlling a motor includes a position feedback device and a velocity noise filter. The position feedback device is operable to generate a position signal relating to a position of the motor. The velocity noise filter is coupled to the position feedback device and operable to filter the position signal over a predetermined number of samples to generate a velocity feedback signal for the motor.

Abstract: An AC servo system with distributed movement control is used for multiple axes control in distributed manner includes at least one drive containing a programmable movement controller to perform a customized procedure to control I/O signal of local axis or other axis. The drive can download/perform movement program through communication network, edit axis parameter and monitor the axis status. The drive can set to be master/slave axis according to practical need. The master axis drive performs multiple axes simultaneous control and sends path command to each slave axis drive. The master axis drive calculates complementary command coordinate according to the path command and the path command received by the slave axis drive, whereby the movement trace of the master/slave axis drive can satisfy the path command requirement.

Abstract: A multiple axis servo control implements a multi-tasking PWM control unit to provide PWM signals for multiple axes in a single unit. A time slice mechanism provides axis selection signals based on a system clock signal to permit control parameters of the selected axis to be processed to control the selected motor drive axis. The single unit PWM control mechanism eliminates complex and costly multiple axis networks typically associated with independent servo motor controls for each axis in a multi-axis system. A single PWM unit implementation also permits the reduction of components for closed loop current control and closed loop velocity control in the multi-axis servo control system.

Abstract: An x-ray apparatus has a servo-supported C-arm that is movable with two degrees of freedom in a movement space by means of a drive device. The servo support of the C-arm deviates at a stop point within the movement space from the servo support in the surrounding movement space.

Abstract: A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount ?zIm for the master axis ZIm on a motion amount ?zIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount ?zIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs.

Abstract: A resonance frequency detecting device of a multi-shaft electric motor control apparatus includes a plurality of electric motor control systems having electric motors (31, 32) for driving machines (41, 42) and controllers (21, 22) for driving the electric motors (31,32), detectors (51,52) for detecting the operating amounts of the machines (41,42), signal processors (61,62) for analyzing the frequencies of the signals of the detectors (51,52) and outputting the frequencies as resonance frequencies, and output devices (81,82) for changing the signals of the signal processors (61,62) into graphs or numeric values, a command generator (11) for giving the electric motor control system a control command for transmitting a vibration to the machines (41,42) is provided to input the signals of the detectors (51,52) to the signal processor (61) and to output them as resonance frequencies.

Abstract: After a controller #1 has started giving an interpolating instruction, the length on an interpolation line is calculated by a first calculation means in synchronism with a clock signal from a clock synchronous circuit 45, and after having executed a first step for generating a synthetic locus-use frame 100 based upon the calculated value, the synthetic locus-use frame 100 is transmitted to controller #2 so that, after controller #2 has executed a second step for receiving a synthetic locus calculation-use frame from a receiving means, controllers #1, #2 execute a third step for calculating the position on the interpolation line based upon the synthetic locus-use frame 100 by using a second calculation means.

Abstract: A movable table for supporting a work piece is allowed to move on the same plane in arbitrary directions through a table holding mechanism. Also, a feed within the same plane is supplied to the movable table by the electromagnetic driving means. Further, the movable table is stopped by an electromagnetic braking mechanism at an arbitrary position within the same plane. The electromagnetic driving means generates a feed to the movable table by a mutual magnetic effect between driven magnets and driving coils. The electromagnetic braking mechanism includes braking magnets and a nonmagnetic and conductive braking plate. A pair of the braking magnets and braking plate generates braking force by a magnetic effect between a magnetic force by an eddy current generated in the braking plate in accordance with the movement of the movable table and a magnetic force of the braking magnets.

Abstract: A device and method for apportioning a movement of a machine element driven by at least two drives for movement along a drive axis of a machine tool or production machine are described. A low-pass filter filters predetermined desired drive axis values to generate filtered desired drive axis values, with a first controller receiving the filtered desired drive axis values as control input value for controlling a first of the at least two drives. A delay unit with a constant group delay time temporally delays the desired drive axis values and generates delayed desired drive axis values, whereafter a subtracter determines a difference between the filtered desired drive axis values and the delayed desired drive axis values. A second controller receives the determined difference and provides, based on the determined difference, a second control input value for controlling a second of the at least two drives.

Abstract: In a feed drive apparatus wherein a moving element 27 is driven by drive legs 21, 22 having extension/contraction deforming parts 23 and shear deforming parts 24, sine wave drive voltages are respectively applied to the extension/contraction deforming parts 23 and shear deforming parts 24 of the drive legs 21, 22 in order to permit high speed operation, and make the average voltage effectively zero.

Abstract: A multi-axes industrial processing machine with a multi-axes electrical drive system and at least two axle drives that have each an axle module and a built-in motor is disclosed. The machine further includes an impedance that is transformer-coupled with a supply module through an annular core. Either the phase lines on the AC side of the supply module or the output lines of the DC side of the supply module as well as an additional winding are wound on the annular core. The impedance is connected in parallel to the additional winding.

Abstract: A stage assembly for an exposure apparatus is disclosed. The stage assembly comprises a guide assembly. The guide assembly includes a guide bar, a stage, a first actuator component, and a second actuator component. The guide bar is movable in a first direction and has a center of gravity and a guiding portion. The stage is movable along the guiding portion of the guide bar in a second direction substantially perpendicular to the first direction and exerts a reaction force on the guide bar. The stage has a center of gravity spaced apart from the center of gravity of the guide bar in the first direction. The first actuator component is positioned on the guide bar. The first actuator component is aligned with the center of gravity of the stage in the second direction to apply a compensating force on the guide bar to cancel the reaction force exerted by the stage. The second actuator component is positioned on the guide bar.

Abstract: A method and apparatus that afford a user accelerated access to operation of a balancing personal transporter. The method includes first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter. Apparatus includes single axis and 3-axis stabilizer and means to alert the user of the personal transporter.