Abstract: In a device and a method for generating and/or editing NC programs, where in a programming mode, input fields for machining data and selection lists belonging to the input fields and including permissible machining data are displayed on a display unit. In a configuration mode, the contents of a selection list for an input field is configured via an assigned configuration datum, the configuration datum including at least one executable selection instruction. In the programming mode, the selection instruction is executed such that the result is the selection list is filled with the selected data, and the configured selection list is displayed on the display unit, in that, via the selection instruction, a selective access is made to at least one database having available machining data.

Abstract: A mover assembly (16) that moves or positions an object (12) includes a mover output (226), an actuator (230), and a control system (18). The mover output (226) is connected to the object (12), and the actuator (230) causes the mover output (226) to move. The control system (18) selectively directs a drive signal to the actuator (230) in a first mode and in a second mode. In the first mode, a peak voltage and a baseline voltage are sequentially directed to the actuator (230). In the second mode an intermediate voltage is directed to the actuator (230), the intermediate voltage being intermediate the peak voltage and the baseline voltage.

Abstract: A power supply programmable for a constant current mode and a constant voltage mode and selectively operable in either mode. Respective circuits associated with each of a constant voltage loop and a constant current loop track a control voltage of the other loop when the other loop is operating closed loop and maintains a control voltage of the open loop at a tracking offset value from the control voltage of the closed loop, allowing the open loop to rapidly assume control of the power supply during a mode transition. The tracking offset value is briefly increased during a mode transition to interrupt oscillation tendencies, resulting in faster mode cross-over and reduced overshoots, while maintaining stability.

Abstract: One aspect of the present invention provides a motor control system that includes a linear control system operative, in a linear mode, to provide a plurality of control signals for driving an associated motor based on an error signal. The system also includes control logic operative, in a pulse-width modulation (PWM) mode, to provide the plurality of control signals for driving the motor, at least some of the plurality of control signals being pulse-width-modulated signals based on the error signal. An error system generates the error signal based on an indication of a sensed electrical characteristic of the motor relative to a predetermined reference signal. A feedback network is coupled across the error system. The feedback configured to have transfer function characteristics that substantially match responses in the linear mode and the PWM mode of motor control system, which facilitates transitions between the linear mode and the PWM mode.

Abstract: A control system for operating a device. The control system comprises a plurality of command elements generating command signals and a control element having a plurality of control modes. Each control mode includes a transfer function output effective to operate the device in a predetermined manner and is selectable in accordance with the status of at least one of the command signals. The transfer function output of a nonselected control mode is made to substantially track the transfer function output of a selected control mode such that the transfer function output of the nonselected control mode is substantially similar in magnitude to the transfer function output of the selected mode when the control element selects the nonselected mode. A method employs the system.

Abstract: In controlling a motor in a device which drives a mechanism using the motor as a power source, in executing driving, an ideal profile of the driving is generated in accordance with a target position and a preset initial parameter, driving of the motor is controlled in accordance with the profile, the value of the initial parameter is evaluated at the end of driving, and the value of the initial parameter is changed in accordance with the evaluation result. High-speed accurate position control can be achieved independently of the characteristic of an individual motor to be used.

Abstract: The invention provides a synchronous motor sensorless controller which drives a synchronous motor without use of a rotational position sensor. The controller has a relative position counter 4 which acquires an estimated position of a magnetic pole from the position-and-speed estimation device simultaneously with resetting a summated value to zero when the reference position signal is input and which starts summation operation; and a speed instruction generator 3 having a position controller 29 which performs position control operation on the basis of a deviation between an instruction value pertaining to the amount of movement from the reference position and a summated value output as a relative position from the relative position counter, the generator outputting a speed instruction. The sensorless controller can position at a predetermined location a synchronous motor not having a position sensor.

Abstract: Methods and apparatus for controlling an actuator to provide linear and continuous force output to a user of a force feedback device. To provide continuous and smooth force output in a zero crossover region of operation, two drive signals are used, each causing current to flow in a different direction in the actuator. When a desired output force is in the crossover region, the two drive signals are alternated to cause the output force to quickly switch directions. When the desired force is outside the crossover region, only one drive signal is used to cause output force in one direction. To compensate for a nonlinear output of the actuator, a desired command current is correlated with an approximated point of a characterization curve of the actuator, where the curve includes points determined in a previously performed actuator characterization.

Abstract: In a magnetic disk storage apparatus, when a drive current of the voice coil motor is small, the head drive control circuit executes the linear drive mode under which the voice coil motor is driven in a linear control manner, whereas when the drive current is large, the head drive control circuit executes the pulse drive mode under which the voice coil motor is driven in a pulse width control manner. Both modes are carried out by employing a commonly-used output amplifier that is arranged as a push-pull type output circuit made of both a push-driving output transistor and a pull-driving output transistor. An operation mode of this output amplifier is set to an AB-class operation during the linear drive mode, whereas the operation mode of this output amplifier is set to a B-class operation during the pulse drive mode.

Abstract: In a control system (10) having a learning mode (20) such that performance limits can be automatically determined for subsequent use during normal operating modes (40), one or more user manipulable controls (18) are provided to allow a user to selectively adjust the previously automatically determined performance limits. In one embodiment the range of adjustment can be limited. The user control (18) can be located in various positions with respect to the control unit (15). In an exemplary embodiment, the control system (10) comprises a movable barrier operating system such as a garage door opener.

Abstract: An apparatus for setting control parameters of a machining apparatus. The setting apparatus includes a storage unit for storing a set of control parameters for each of a plurality of machining modes; an input device for selecting one of the plurality of machining modes; and a control unit for selecting a set of control parameters corresponding the selected machining mode and setting the set of control parameters as control parameters to be used for controlling the machining apparatus.

Abstract: The present invention preferably employs non-contact, small-displacement, capacitive sensors to determine Abbe errors due to the pitch, yaw, or roll of a near linear mechanical stage that are not indicated by an on-axis position indicator, such as a linear scale encoder or laser interferometer. The system is calibrated against a precise reference standard so the corrections depend only on sensing small changes in the sensor readings and not on absolute accuracy of the sensor readings. Although the present invention is preferred for use in split-axis positioning systems with inertially separated stages, the invention can be employed in typical split-axis or stacked stage systems to reduce their manufacturing costs.

Abstract: An apparatus for the control of a machine tool includes, for the processing of a workpiece, several separate processing units that can execute definite tasks simultaneously and independently of one another. Furthermore, a display unit, as well as at least one assigned input unit, is provided. On the display unit side at least one display window, which can be activated selectively and in which corresponding information can be presented visually, is assigned to each processing unit. The display window active at the moment is thus shown uncovered and/or marked for emphasis.

Abstract: A motor combination system with operating method for operating as an induction motor or a stepping motor is disclosed. The disclosed system basically encompasses a switch device, an induction motor control module, and a stepping motor control module. Driving signals generated by the induction motor control module and the stepping motor control module are fed into the switch device. The induction motor control module receives a feedback signal for compensating simulation distortion when the disclosed system operates as an induction motor. The switch device is responsive to a mode selection signal to decide which driving signals being selected for driving the disclosed system for operating. In the beginning, the disclosed system operates as a stepping motor for providing torque enough for switching purpose. According to the mode selection signal, the disclosed system may switch to operate as an induction motor when the torque is large enough.

Abstract: A circuit arrangement with a digital controller for operating an electric motor and a method for starting an electric motor are disclosed. Electric motors require a considerably higher current immediately after they have been switched on and during the running-up phase because of the inductance of the motor windings. In order to increase the control sensitivity of the controller for the normal operation, the control range of a digital controller is switched over into a higher current range for the running-up phase. For the normal operation of the motor, the control range of the controller is switched back again into a lower current range. As a result, the control sensitivity of the controller is completely available for the normal operation of the motor.

Abstract: A method and a circuit for switching a motor controller from pulse width modulation to linear control for a brush-less, sensor-less, poly-phase DC motor. The method includes steps of operating a drive circuit for a poly-phase direct current motor in a pulse width modulation mode and determining that a zero crossing will occur within a predetermined interval. The method also includes steps of enabling a bias current to a transconductance operational amplifier and changing an operating state of the drive circuit from the pulse width modulation mode to a linear mode. The method further includes steps of determining that the zero crossing has occurred, disabling the bias current to the transconductance operational amplifier and changing the operating state of the drive circuit from the linear mode to the pulse width modulation mode.

Abstract: A method and a circuit for switching a motor controller from pulse width modulation to linear control for a brush-less, sensor-less, poly-phase DC motor. The method includes steps of operating a drive circuit for a poly-phase direct current motor in a pulse width modulation mode and determining that a zero crossing will occur within a predetermined interval. The method also includes steps of enabling a bias current to a transconductance operational amplifier and changing an operating state of the drive circuit from the pulse width modulation mode to a linear mode. The method further includes steps of determining that the zero crossing has occurred, disabling the bias current to the transconductance operational amplifier and changing the operating state of the drive circuit from the linear mode to the pulse width modulation mode.

Abstract: A video recorder capstan drive motor is controlled for slow-motion, freeze-frame and similar operations by setting a rate of acceleration or braking. A speed parameter is measured during an initial acceleration phase and is compared to a predetermined desired value. Based on the result of such comparison, current to the drive motor is limited, or an existing current limitation value is increased or reduced, so as to alter the acceleration or braking and bring the tape speed more nearly to the predetermined value. A representative current value can be stored in nonvolatile storage and used for such current limitation control, for so long as conditions remain unchanged. The value can be changed when conditions change, for example due to loading of a different tape cassette or a change in operational temperature.

Abstract: A circuit and method for reconstructing the back emf of a floating coil of a polyphase dc motor in PWM mode is provided. The floating coil is coupled to a first capacitor through a floating phase switch that closes during a pulse produced by the PWM drive signaling the appropriate time to sample in the PWM cycle. The signal on the floating coil is sampled and the sampled signal is stored using a capacitor. After the sampling period, the stored signal is discharged (or charged) at a rate that substantially models the slew rate or slope rate of the expected back emf signal at or near the zero crossing of the back emf signal with the common tap signal. The voltage across the capacitor is a reconstruction of the actual back emf and is generated using samples of the back emf. The reconstructed back emf is compared to the center tap voltage to more accurately detect the zero crossing.

Abstract: A disk drive is connectable to a power supply having a fixed DC voltage. The disk drive includes a voice coil motor (VCM) and a spindle motor having a plurality of windings and a rotor rotatable at a variable spin-rate. A spindle motor driver is coupled to the fixed DC voltage and at least one of the windings for controlling the spin-rate of the rotor. The rotor has permanent magnets that induce an AC voltage across the windings while the rotor is rotating. A rectifier circuit rectifies the AC voltage across at least one of the windings to produce a rectified DC voltage. A first switch provides the rectified DC voltage to a first node. A second switch provides the fixed DC voltage to the first node. The first node has a first node DC voltage that is determined by the rectified DC voltage provided by the first switch and the fixed DC voltage provided by the second switch. The first node DC voltage is greater than the fixed DC voltage during a track seeking operation in the disk drive.

Abstract: A substrate handler for use in a chamber in a vacuum processing system has a single motor for controlling the substrate handler's rotation and extension functions. The single motor is connected to an operating assembly that operates in two modes to alternatively rotate or extend the substrate handler. The two modes are defined by the relative rotational motion of two drive mechanisms that are rotated by the single motor. When the relative rotational motion for the two drive mechanisms is in the same axial direction, then the operating assembly operates in the first mode. When the relative rotational motion for the two drive mechanisms is in the opposite axial direction, then the operating assembly operates in the second mode. The single motor operates one of the drive mechanisms and an assembly that alternatively operates the other drive mechanism in either the same or the opposite axial direction as the first drive mechanism.

Abstract: A superimposing control method using a numerical control device, capable of starting and terminating a superimposing control even during movement, without the need of waiting for the adjustment of timing and without rapid acceleration or deceleration. In response to a superimposition command, a motion value distributed to a Z axis of a superimposing axis in a reference system is subjected to acceleration/deceleration processing by an acceleration/deceleration processing section separately provided for superimposition, and the obtained movement value is added to a motion command value for a Z axis of a superimposed axis in a superimposing system. When a superimposition termination command is issued, the motion command value remained in the acceleration/deceleration processing section for superimposition is superimposed on the motion command value for the Z axis of the superimposing system. The superimposition can be smoothly started and terminated without the need to stop the two control systems.

Abstract: A micromanipulator system is comprised of a microscope, a micromanipulator for three-dimensionally manipulating a fine instrument in the field of the microscope, image pick-up device for picking up an image within the microscopic field, reference position setting device for setting a reference position of the micromanipulator along a height direction, detecting device for detecting a height position of a tip portion of the manipulator as positional information measured from the reference position along the height direction, and a display device for combining the image of the image pick-up device with the positional information detected by the detecting device to display the combined image thereon. The joy stick includes a manipulating lever, X- and Y- axial direction detectors, a control signal generation device, and a push button switch. The manipulating lever is swingable in an arbitrary direction with the center of a base.

Abstract: A fault-tolerant control system for a magnetic bearing arrangement which maximizes dynamic response of the control system is disclosed. The arrangement includes a main digital signal processor responsive to rotor position/velocity signals to supply control signals to bearing control coils and a secondary digital signal processor responsive to accelerometer signals to provide open-loop vibration control for correction of mass imbalance of the rotor system. In addition, sources of vibration which have fundamental frequencies at some multiple of the rotor system rotational frequency can also be controlled.

Abstract: The invention relates to a method for detecting a threshold-crossing of a back electromotive force (bemf) measured in one phase of a multiple-phase motor, the one phase being set at a high impedance while at least one other phase is supplied by pulse-width modulation signal. The method includes the step of comparing the bemf with a threshold. The method includes, prior to the step of comparing, the steps of sampling the bemf during on-periods of the pulse-width modulation signal, and holding the bemf during off-periods of the pulse-width modulation signal.

Abstract: A process and a system for controlling an electrohydraulic pressure supply for an auxiliary power device of an automotive vehicle in which a hydraulic pump system is operated by means of an electric motor the speed of rotation of which is controlled by operating parameters. In order to operate the auxiliary power system with the least possible energy, the changes in speed of rotation which differ from a predetermined desired speed of rotation of the electric motor are recognized and levelled out. In order to operate the power-assisted system with the least possible energy, the switching of the electric motor (2) from stand-by operation to full-load operation, or vice versa, takes place as a function of the speed of rotation (n) of the electric motor (2).

Abstract: A power amplifier (18) for driving a brushless DC motor (22) includes a processor (40) which receives a signal indicative of motor situational usage and generates a mode state signal indicative of which one of a plurality of amplification modes is to be implemented in response to the received signal. The amplification modes include a linear mode and a switching mode, with the switching mode including a two quadrant switching mode and a four quadrant switching mode. The amplifier (18) further includes a controller (50) which, in response to the mode state signal, generates control signals for each of coil drive circuits (26) associated with the motor. Further, in response to a signal indicative of motor situational usage, processor (40) generates a power state signal which causes controller (50) to connect coil drive circuits (26) to a suitable one of a plurality of differing voltage sources (21, 23).

Abstract: A flywheel controller for commutating a stator of a flywheel is disclosed wherein the flywheel controller includes a sensing unit to sense the position of a rotor and for creating a rotational signal, a control unit operatively connecting to the sensing unit for creating a command signal, and a commutator operatively connected to the controller for receiving the command signal to commutate the stator, wherein the commutator includes a pulse width modulator for controlling power from the flywheel over a first predetermined power range and a step generator for controlling power from the flywheel over a second predetermined power range.

Abstract: An amplifier circuit which communicates over a two way bus with a CPU having a profile generating computer for defining at least one profile and which supplies a control signal to a motor. The amplifier circuit has a profile generating computer for generating at least one profile which has been downloaded from the CPU and a motor controller for receiving the profile and for issuing a control signal for the motor.

Abstract: A multi-rate positioner system (50) receives unpanelized positioning commands from a database subsystem (64), profiles the commands (72) into a half-sine positioning signal, and further processes the signal into a low-frequency positioning signal (LFP) and a high-frequency positioning signal (HFP) for actuating respective slow (56, 58) and fast (54) positioners to target locations on a workpiece (62). The slow and fast positioners move without necessarily stopping in response to a stream of positioning command data while coordinating their individually moving positions to produce temporarily stationary tool positions (140) over target locations defined by the database. The multi-rate positioning system reduces the fast positioner movement range requirement while providing significantly increased tool processing throughput.

Abstract: A multi-rate positioner system (50) receives unpanelized positioning commands from a database storage subsystem (64), profiles the commands (72) into a half-sine positioning signal, and further processes the signal into a low-frequency positioning signal (LFP) and a high-frequency positioning signal (HFP) for actuating respective slow (56, 58) and fast (54) positioners to target locations on a workpiece (62). The slow and fast positioners move without necessarily stopping in response to a stream of positioning command data while coordinating their individually moving positions to produce temporarily stationary tool positions (140) over target locations defined by the database. The multi-rate positioning system reduces the fast positioner movement range requirement while providing significantly increased tool processing throughput.

Abstract: A chip device for positioning control and position recording of a servo motor. The chip device can be operated in two modes: a first mode, and a second mode. In the first mode, the chip device can perform step command conversion, position loop control, multiple shaft synchronization, and recording of the position of the motor shaft. The step command conversion utilizes a digital-differential analysis (DDA) method to convert the step waveform in the command signal into ramp waveform for smoothed control of the servo motor. The position loop control circuit compute for the error in position and then compensates the error to generate a 12-bit 2's complement output which is subsequently converted to analog signal used to drive the servo motor. The purpose of multiple shaft synchronization is to allow a plurality of servo motor to rotate in synchronization and accurately with the same increments.

Abstract: An actuator for automotive HVAC control is coupled to a remote controller by two wires. The controller applies power to the actuator in a high current or a low current mode. A variable resistance driven by the actuator generates a voltage proportional to position in the low current mode. Zener diodes in the actuator circuit prevent motor operation in the low current mode and permit motor operation in the high current mode. A microprocessor in the controller selects the mode and reads the voltage in low mode to determine position. It controls the motor for a duration required to reach a desired position and then checks the new position to verify that the target has been reached. If not, another iteration is employed to reach the target.

Abstract: A motor drive control circuit for operation in both linear and PWM modes includes a switchably connected compensation network. The compensation network has a capacitor that provides control loop compensation. To avoid transient effects during the settling time upon transitions from one mode to the other, the switch connecting the compensation network in the circuit is closed only during linear operation and not during PWM mode operation. When the switch is open, the capacitor holds a previously attained potential that is reapplied to the circuit when the switch is again closed.

Abstract: A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: In order to reduce distortion of a real-current wave form and to suppress substantial transient fluctuation of the current and torque during changeover from a regeneration running condition to the power running condition of a three-phase induction motor, changeover from the three-phase-modulation control to the two-phase-modulation control is carried at the same time the power running condition of the motor is changed to the regeneration running condition according to the motor-state-quantum such as a detected slip ratio, detected torque, detected current or the like. Thus, distortion of the motor-current wave form is reduced and significant fluctuation of the motor-current and torque during the changeover is reduced.

Abstract: A hybrid servomechanism includes a speed control, a rotor position control and a brushless motor. When enabled, the position control commands a stationary stator mmf vector, allowing the motor's rotor to rotate until load torque and motor torque are balanced. This position control eliminates limit cycle operation and allows the motor to compensate for backdriving caused by external loads.

Abstract: A feedforward control method for a servomotor designed to improve with the command follow-up property of a servo system. In this method, the average value of move commands for N number of position/speed loop processing periods centering around the position/speed loop processing period concerned is obtained, the number N being equal to the number obtained by dividing the distribution period by the position/speed loop processing periods. A position feedforward amount FFp is obtained by multiplying this average value by a position feedforward coefficient, and a corrected speed command Vc(j) is obtained by adding this position feedforward amount FFp to a speed command obtained in a conventional position loop processing. Further, a speed feedforward processing is executed (S16), a torque command Tc(j) is obtained, and the motor is thereby driven. This feedforward control never causes any variation in the position deviation or any shock on the motor or machine.

Abstract: A control system includes a first estimation section for estimating a first state variable of a plant object such as a semiconductor wafer temperature control arrangement on the basis of a control input supplied to the plant object and an output from the plant object, a second estimation section for estimating a second state variable of the plant object on the basis of the control input alone, a switching section for selecting one of the first and second estimation sections, and a servo section for adjusting the control input by feeding back the state variable from the first or second estimation section to an input section of the plant object.

Abstract: An system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: An actuator'rate is controlled by a rate servo and the actuator's position is controlled by a position control. The position control can be a position servo or a mechanical brake. Selection of either the rate servo or position control is made by fuzzy switching logic.

Abstract: A garage door operator has a microcomputer based control which is programmed to measure door position from full open position by counting motor revolutions and to determine motor speed and deceleration for each revolution. The program learns the open and closed position limits as well as force sensitivity limits for up and down operation with minimal user input. During normal door operation the closed limit and the sensitivity limits are adaptively adjusted to accommodate changes in conditions. The lowest up and down motor speeds in each operation are stored for comparison with motor speeds in the next like operation for obstruction detection. Motor deceleration is also monitored for obstruction detection. For a more sensitive obstruction detection during closing, the motor speed is mapped for each revolution for the last several inches of closing.

Abstract: A method of controlling an excavator driven by an electronic control system having an input/output board for executing a transformation, scaling and filtering function of signals supplied from a hydraulic control portion, a central processing unit for storing the data output of the input/output board into a specified area of a RAM and transferring the data stored in the RAM to a ROM and a multi-control valve for distributing the data in the RAM to each of control parts in the hydraulic control portion as control signals, comprises a step of arranging the data inputted through the input/output board into a data area A for a plurality of tasks 1 and 2, a step of processing the data in the data area A by using executive codes for the plurality of tasks 1 (B) and task 2 (C), a step of executing the tasks in correlation with a system library D after the data area processing step, and a step of transferring control signals to the control parts in the hydraulic control portion through an input/output driver and the

Abstract: The present invention relates to a procedure for selecting the mode of controlling the motor of a crane, or an equivalent lifting apparatus, when at least two alternative modes of controlling the motor are available, and at least one of the modes involves control by means of a switch having at least two positions connectable in a predetermined order, so as to produce corresponding control signals at a control input port. Each control mode uses at least one control signal common to all modes. According to the invention, the control signals applied to a control input port are monitored, the prevailing control situation is determined on the basis of the monitored signals and the mode of control is selected on the basis of which ones of the signals are active and the prevailing control situation.

Abstract: A positioning control method and apparatus in which a fine movement mechanism is moved without exceeding a movable area so that positioning of a large amount of displacement can be attained with high accuracy and high-speed positioning from a point to a point with the same control method. A coarse movement mechanism (101) has a large amount of movement and low positioning accuracy and a fine movement mechanism (102) on the coarse movement mechanism has a small amount of movement and high positioning accuracy.

Abstract: A positioning control for linearly displacing an object (31) has a direct current motor (1) and a gear (2,21) for converting rotary into linear motion, a current supply (4) of current pulses having given frequency, amplitude and duration; a pole reverser; a rotatable operating element (51) coupled to an angular step generator (5) and a sensor of the sense of rotation. The pulse frequency of the current supply (4) is determined by the angular step generator (5) and the polarity of the pole changer is determined by the sensor of the sense of rotation. The characteristic curve of the speed of displacement of the object (31) as a function of the pulse frequency is kinked, in that for low pulse frequencies the speed increases proportionally slowly, and up from the level of a pulse frequency threshold, the speed increases markedly quicker. The invention is useful for microscope focussing drives.

Abstract: Method and device for controlling a motor in a powered seat, wherein a certain standard physique classification is set according to the height of an occupant on the seat, and on the basis of such physical classification, several predetermined standard positions are preset in a central processing unit, and wherein such standard positions may be selected and set temporarily by a mode selection switch and position switch for proper motor control, and further, a desired change of position may be made from the standard position by a manual switch.

Abstract: A method for controlling a lumbar support device and a motor control device provided, which are applied to a powered seat. The motor for causing fore-and-aft movement of a lumbar plate is controlled under a selected one of burst and fluctuation control modes. In the burst control mode, the lumbar plate is moved periodically in the fore-and-aft direction, whereas in the fluctuation control mode, the lumbar plate is moved in a aperiodic and weavering way in that direction, for example, on the basis of 1/f fluctuation waveform, to thereby alleviate a fatigue of lumbar part of a passenger sitting on the seat.

Abstract: An active virtual pivot hand controller using motors to control reflective forces and torques. Degree of freedom parameters, stops, and reflective force rates may be easily modified without altering hardware. The location of the virtual pivot of the hand controller may be likewise readily changed.

Abstract: There are provided servo motors and servo control units for n shafts. A setting device previously sets parameters for servo control individually for each of the n shafts and previously sets parameters for servo control for a synchronizing operation. Data which determines synchronization conditions of servo motors of respective shafts is applied, when required, by an input device independently of setting by the setting device. The data which determines the synchronization conditions includes, for example, data of combination of synchronized shafts and data of section for synchronization. A moving pattern preparation device determines servo motor shafts to be synchronously controlled on the basis of the synchronization condition determining data applied through the input device and prepares a moving pattern to a target position on the basis of the parameters for servo control set by the setting device with respect to each servo motor shaft to be synchronously controlled.