Abstract: A master machine supporting system includes a master machine in which a speed reducer is incorporated, and a server configured to store performance data of the speed reducer in association with a speed reducer ID of each speed reducer. The server transmits performance data corresponding to the speed reducer ID in response to a performance data transmission request including the speed reducer ID. The master machine receives an input of the performance data of the speed reducer incorporated in the master machine and controls an operation of the master machine based on the input performance data.

Abstract: A method of removing a direct current component at an output terminal of an MMC converter according to the present invention includes a detection step of individually detecting charging voltages charged in capacitors of a plurality of sub-modules connected in series to each other in the MMC converter; outputting an average value of the individually detected charging voltages; delaying the outputted average value by a predetermined phase to output a phase-delayed average value; outputting the average value and the phase-delayed average value as a q-axis component voltage by using a predetermined dq conversion unit; calculating an error between the q-axis component voltage and a three-phase average voltage for the q-axis component voltage; and outputting, through a pre-determined first PI control unit, an offset voltage for reducing the error.

Abstract: A motor controller for driving an interior permanent magnet (IPM) motor has a current feedback control unit that calculates a q-axis current restriction value based on a dq-axis voltage instruction value and a dq-axis current detection value, so that a power source current flowing in an inverter circuit is controlled to be equal to or lower than a target power source current. Provided that a torque current proportional to an output torque of the motor is defined as a torque current, a torque current converter converts the q-axis current restriction value to a torque current restriction value by using a d-axis current detection value. A torque current instruction value restrictor restricts a torque current instruction value with the torque current restriction value. A dq-axis current converter converts a post-restriction torque current instruction value to a d-axis current instruction value and a q-axis current restriction value.

Abstract: A SCARA robot includes a first arm configured to be moved in a direction different from a gravity direction; a first motor configured to drive the first arm; a first speed reducer, an input shaft of which is connected to the first motor and an output shaft of which is connected to the first arm; and a first output-side angle sensor configured to detect an operating position on an output side of the first speed reducer, wherein the first motor is controlled on the basis of an output of the first output-side angle sensor.

Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.

Abstract: A linked semiconductor module unit links a plurality of semiconductor modules by a first bus bar and a second bus bar, which are embedded in resin parts. The linked semiconductor module unit is disposed in a place other than on a printed circuit board. The semiconductor module linking structure is implemented readily by molding the bus bars together with semiconductor chips and lands to form the resin parts.

Abstract: A force feedback mechanism disposed inside a casing for vibration balance of the casing is disclosed in the present invention. The force feedback mechanism includes an accelerator, a force generator and a controller. The accelerator detects an acceleration parameter of the casing. The force generator respectively generates an effective force at a first direction and a second direction. The first direction is substantially opposite to the second direction. The controller is electrically connected to the accelerator and the force generator. The controller obtains and analyzes absolute value and vector of the acceleration parameter, and drives the force generator to generate the corresponding effective force according to the absolute value and the vector.

Abstract: A motor control device main unit includes a pressure command signal generation module, a pressure control module, a speed control module, and a current control module. The pressure command signal generation module of the motor control device main unit generates a pressure command value so that a derivative of the pressure command value is equal to or less than a product of an elastic constant of the pressurized target and a maximum motor speed. The pressure control module carries out pressure control calculation to calculate a motor speed command value based on a deviation between the pressure command value and an actual pressure value, and generates a motor speed command signal, which is a signal of the motor speed command value.

Abstract: A motor-control-device main unit includes a pressure-command-signal generating section, a pressure control section, a speed control section, a current control section, and a parameter-adjusting section. With respect to a parameter for a control computation by the pressure control section, the parameter-adjusting section includes an information-acquiring section and a parameter-calculating section. The information-acquiring section acquires, from an exterior, each of pieces of information including an elastic constant of a pressurized target, a reaction-force constant indicating information of a reaction force, a transfer characteristic from a motor torque to a motor speed, and parameters of the speed control section. The information-acquiring section previously acquires information of a control law of the speed control unit. The parameter-calculating section calculates a parameter for the pressure control section based on the information acquired by the information-acquiring section.

Abstract: A motor control device main unit includes a pressure command signal generation module, a simulated pressure control module, a simulated position calculation module, a simulated pressure signal generation module, a pressure control module, a speed control module, and a current control module. The speed control module receives a motor speed command signal, which is a signal of a sum of an actual motor speed command value of an actual motor speed command signal from the pressure control module and a simulated speed calculated value of a simulated motor speed signal. The speed control module carries out speed control calculation based on a motor speed command value of the motor speed command signal and an actual motor speed of an actual motor speed signal.

Abstract: A method for operating a powertrain system including a torque machine mechanically coupled to an internal combustion engine includes, upon detecting a pending fault associated with a power switch configured to control power flow to the torque machine, disabling torque output from the torque machine and executing retry events. The retry events are iteratively executed with a debounce time period preceding each retry event. Presence of a fault associated with the power switch is detected when a quantity of the retry events during a time window exceeds a threshold.

Abstract: A system for controlling a motor of a hybrid vehicle that secures robustness and stability of control by selecting an optimal approximation model according to a driving condition of the motor and determines current order for controlling the motor by using the selected optimal approximation model is disclosed. In particular, a current order generator utilizes a reference current determination module to determine reference currents of the first and second axes, a compensation value determination module to determine compensation values of the reference currents of the first and second axes, and a current determination module to determine the currents of the first and second axes from the reference currents of the first and second axes and the compensation values of the reference currents of the first and second axes in order to control the motor more efficiently.

Abstract: An impact power tool includes a motor, a battery, a hammer mechanism and a control apparatus. The motor runs in the same speed no matter what torque level is selected. The motor runs for a total running time which is identical to an impacting time plus a compensative time. The impacting time is decided according to the selected torque level, and the compensative time is decided according to the power of the battery. An impacting time table and a compensative time table are pre-established to decide the impacting time value and the compensative time value. Therefore, the impact power tool always provides the theory torque output of the selected torque even if the battery is low.

Abstract: A linked semiconductor module unit links a plurality of semiconductor modules by a first bus bar and a second bus bar, which are embedded in resin parts. The linked semiconductor module unit is disposed in a place other than on a printed circuit board. The semiconductor module linking structure is implemented readily by molding the bus bars together with semiconductor chips and lands to form the resin parts.

Abstract: Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.

Abstract: In a torque motor driving device for wire cut electrical discharge machines, a voltage waveform rectified by a full-wave rectifying circuit, not using a high-capacitance electrolytic capacitor, is applied as an AC voltage to a single-phase torque motor by a bridge circuit including semiconductor switches. A PWM signal whose duty is adjusted so that the current flowing through the torque motor matches an instructed value is generated and the generated PWM signal is used for the operation of the bridge circuit.

Abstract: A door position control including an electric door actuator having a motor and a motor controller in communication with a system controller. A motor actuation operation is selected from a plurality of predetermined motor actuation operations to provide control signals to the motor controller for controlling actuation of the motor for control of door movement. Control of door movement is effected with reference to parameters specific to an installation location including an angular sweep of the door between open and closed positions and with reference to an available bus voltage for supplying power to the motor.

Abstract: A motor-control-device main unit includes a pressure-command-signal generating section, a pressure control section, a speed control section, a current control section, and a parameter-adjusting section. With respect to a parameter for a control computation by the pressure control section, the parameter-adjusting section includes an information-acquiring section and a parameter-calculating section. The information-acquiring section acquires, from an exterior, each of pieces of information including an elastic constant of a pressurized target, a reaction-force constant indicating information of a reaction force, a transfer characteristic from a motor torque to a motor speed, and parameters of the speed control section. The information-acquiring section previously acquires information of a control law of the speed control unit. The parameter-calculating section calculates a parameter for the pressure control section based on the information acquired by the information-acquiring section.

Abstract: A motor control device main unit includes a pressure command signal generation module, a simulated pressure control module, a simulated position calculation module, a simulated pressure signal generation module, a pressure control module, a speed control module, and a current control module. The speed control module receives a motor speed command signal, which is a signal of a sum of an actual motor speed command value of an actual motor speed command signal from the pressure control module and a simulated speed calculated value of a simulated motor speed signal. The speed control module carries out speed control calculation based on a motor speed command value of the motor speed command signal and an actual motor speed of an actual motor speed signal.

Abstract: A motor control device main unit includes a pressure command signal generation module, a pressure control module, a speed control module, and a current control module. The pressure command signal generation module of the motor control device main unit generates a pressure command value so that a derivative of the pressure command value is equal to or less than a product of an elastic constant of the pressurized target and a maximum motor speed. The pressure control module carries out pressure control calculation to calculate a motor speed command value based on a deviation between the pressure command value and an actual pressure value, and generates a motor speed command signal, which is a signal of the motor speed command value.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A torque generator includes a full-pitch winding reluctance motor provided with three-phase or more coils which are composed of full-pitch windings, and a control unit therefor. The control unit controls currents supplied to the respective phase coils such that the coil for a first phase designated among the phases is first started to be current-supplied and then the coil for a second phase designated among the phases is started to be current-supplied during the current supply to the coil for the first phase. The control unit decreases an amount of the current supplied to the first coil immediately before starting the current supply to the second coil and to reinstate the amount of the current supplied to the first coil in response to starting the current supply to the second coil.

Abstract: A valve timing control device is provided with an electric motor (4) generating a magnetic retaining torque (Th) and a motor torque (Tm) in a motor shaft (102) based on a power supply. A power supply control system (6) controls the motor torque (Tm) by controlling the power supply supplied to the electric motor (4). A phase control mechanism (8) transmits a cam torque (Tca) that can alternate between a positive and a negative direction in response to rotation of a cam shaft, to the motor shaft (102) and controls a relative phase between the crank shaft and the cam shaft in accordance with a torque balance in the motor shaft (102). The power supply control system (6) eliminates the motor torque (Tm) that is balanced with the magnetic retaining torque (Th) and the cam torque (Tca) after a stop of the internal combustion engine (S105).

Abstract: In general, one aspect of the subject matter described in this specification features a torquer apparatus that includes a rotor with magnetic poles such that, when radially projected on a concentric octahedron, the same symmetrical pattern is obtained on all faces of the octahedron, the polarity of the poles projected on two adjacent faces of the octahedron being opposite. A stator with at least twenty poles magnetized with coils and such that, when radially projected on a concentric icosahedron, the same symmetrical pattern is obtained on all faces of the icosahedron, the stator being-in nominal position-concentric with the rotor. Real-time measurements, or equivalent information, of the position of the rotor with respect to the stator, and real-time measurements, or equivalent information, of exported torque from the stator, or of the orientation of the rotor with respect to the stator can be obtained.

Abstract: An electric steering system is provided with: a steering torque detection unit which detects a steering torque acting on the shaft; a brushless motor which includes a rotor and a stator having multi-phase stator coils, and generates an assisting torque for assisting the steering torque; a current supply switching unit which drives the brushless motor; a rotary angle estimation unit which outputs an estimated rotary angle; a determination unit which determines whether or not the estimated rotary angle is appropriate by comparison with a direction of the steering torque; and a steering control unit which drives the brushless motor in accordance with the estimated rotary angle determined to be appropriate by the determination unit to control generation of the assisting torque.

Abstract: A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.

Abstract: This invention provides a motor driving apparatus that made it possible to reduce torque ripples including those attributed to load variation of the motor and an associated method for control of motor revolution. An output stage to a multiphase DC motor is comprised of power elements to supply output voltages to multiphase coils and a predriver to supply drive voltages to the power elements. A resistor means detects a current flowing through the power elements. A supply current detector detects a voltage signal produced across the resistor means as a supply current, using a high-speed ADC and a moving average filter. An output controller generates a PWM signal with a frequency lower than the frequency of the high-speed ADC so that the current detected by the supply current detector conforms to a current signal indicating a motor revolving speed and transfers the PWM signal to the output stage.

Abstract: A motor in an electric vehicle can be controlled by receiving a torque command value, calculating a first flux value corresponding to a determinable efficiency of the electric vehicle at the torque command value, calculating a first torque-producing current value as a function of the torque command value and of the first flux value, and using the first flux value and the first torque-producing current value to control the motor to propel the electric vehicle.

Abstract: Provided is an electric power steering apparatus which allows a reduction in apparatus size as well as in noise. A controller (20) includes: a metal board (22), on which a bridge circuit including a plurality of semiconductor switching elements (Q1 to Q6) for switching a current of an electric motor (1) is mounted; capacitors (31) for absorbing a ripple of the current; a control board (29), on which a microcomputer (33) for generating a drive signal for controlling the bridge circuit is mounted; and a connection member formed by insert molding high-current conductive plates (24 and 25), through which a high current flows, and signal conductive plates (26), to/from which a low-current signal is input/output, with a frame (23a) made of an insulating resin provided in proximity to an outer periphery of the metal board (22), in which the capacitors (31) are arranged in a row along an end surface of one side of the metal board (22) and are electrically connected to the high-current conductive plates (24).

Abstract: A torque control circuit includes a motor driving circuit, a motor operating current detection circuit, a reference voltage generation circuit, a maximum motor current setting circuit, a torque setting circuit, an information output circuit, a regulated-voltage power supply circuit, a motor operating temperature detection circuit, and a control circuit. The control circuit includes an integrated circuit to carry out functions of reading information detection sources, processing, and instruction for execution of torque control and output terminals of the reference voltage generation circuit, the maximum motor current setting circuit, the motor operating temperature detection circuit, and the motor impedance torque setting circuit are respectively connected to corresponding input terminals of the integrated circuit to carry out desired control of torque supplied to the impact tool.

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

Abstract: A door position control including an electric door actuator having a motor and a motor controller in communication with a system controller. A motor actuation operation is selected from a plurality of predetermined motor actuation operations to provide control signals to the motor controller for controlling actuation of the motor for control of door movement. Control of door movement is effected with reference to parameters specific to an installation location including an angular sweep of the door between open and closed positions and with reference to an available bus voltage for supplying power to the motor.

Abstract: An electrically driven mooring includes a winding drum (101), an alternating current motor (103) arranged to drive the winding drum, a frequency conversion unit (104) connected to the alternating current motor, and a control unit (105) arranged to control the frequency conversion unit on the basis of an indicator for tension of the mooring rope. The control unit is arranged to compute a flux space vector for modelling a stator flux of the alternating current motor, to compute a torque estimate on the basis of the flux space vector and a space vector of stator currents, and to use the torque estimate as the indicator for the tension of the mooring rope. Hence, a need for a force sensor on the mooring rope and a need for a speed/position sensor on the motor shaft can be avoided.

Abstract: A torquer apparatus generally comprises a reaction-gyro sphere consisting of a concentric assembly of a substantially spherical rotor and a substantially spherical stator. This is implemented in the present invention as a rotor with magnetic poles such that, when radially projected on a concentric octahedron, the same symmetrical pattern is obtained on all faces of said octahedron, the polarity of the poles projected on two adjacent faces of said octahedron being opposite and a stator with at least twenty poles magnetized with coils and such that, when radially projected on a concentric icosahedron, the same symmetrical pattern is obtained on all faces of said icosahedron, said stator being-in nominal position-concentric with said rotor. Real-time measurements, or equivalent information, of the position of the rotor with respect to the stator are obtained together with exported torque from the stator, or the orientation of the rotor with respect to the stator.

Abstract: A control system for placing controlled members in required positions including two control columns assigned to the controlled members to be moved, each control column having two degrees of freedom. Two actuators controlled by two control circuits apply to their associated control column either a resisting torque or a displacement torque. Each control column is provided with a mechanical spring system spring-loading the associated control column into its neutral position and adapted to provide, in the event of manipulation of the corresponding control column, a resisting torque in support of the resisting torque supplied by the associated actuator.

Abstract: A torque control circuit includes a motor driving circuit, a motor operating current detection circuit, a reference voltage generation circuit, a maximum motor current setting circuit, a torque setting circuit, an information output circuit, a regulated-voltage power supply circuit, a motor operating temperature detection circuit, and a control circuit. The control circuit includes an integrated circuit to carry out functions of reading information detection sources, processing, and instruction for execution of torque control and output terminals of the reference voltage generation circuit, the maximum motor current setting circuit, the motor operating temperature detection circuit, and the motor impedance torque setting circuit are respectively connected to corresponding input terminals of the integrated circuit to carry out desired control of torque supplied to the impact tool.

Abstract: An electric steering system is provided with: a steering torque detection unit which detects a steering torque acting on the shaft; a brushless motor which includes a rotor and a stator having multi-phase stator coils, and generates an assisting torque for assisting the steering torque; a current supply switching unit which drives the brushless motor; a rotary angle estimation unit which outputs an estimated rotary angle; a determination unit which determines whether or not the estimated rotary angle is appropriate by comparison with a direction of the steering torque; and a steering control unit which drives the brushless motor in accordance with the estimated rotary angle determined to be appropriate by the determination unit to control generation of the assisting torque.

Abstract: A direct drive torque motor comprises: a body, a direct drive torque motor, a main shaft, a bearing assembly, a brake assembly, a cooling assembly, and a position-sensing assembly. The bearing assembly is used to position the main shaft in the direct drive torque motor and the body. The brake assembly is disposed between the body and the main shaft. The cooling assembly is located in the body to cool the torque motor. The position-sensing assembly is mounted on the body for sensing the rotation of the main shaft and then controls the drive of the direct drive torque motor. With above arrangements, the direct drive torque motor can be used on various machines that need to rotate to perform various angle control, rotation control and accuracy control, it can improve the life and the modular application of the product.

Abstract: A motor drive control device includes: a generation part for generating a current command value; a current detection part for detecting a drive current of an electric motor; a motor feedback control part for controlling feedback of the electric motor based on the current command value and a drive current detection value; a prefilter with order of one or more for adjusting the current command value, the prefilter being interposed between the generation part and the motor feedback control part; and a series compensator with order of two or more for determining a voltage command value of the motor feedback control part based on the current command value adjusted by the prefilter and the drive current detection value of the electric motor.

Abstract: In a hybrid vehicle control apparatus, a motor control unit executes the input power control on a MG unit independently from a torque control on an AC motor so that the input power control and the torque control are stabilized. The motor control unit further executes a torque difference reduction control, which controls current vector of the AC motor, to reduce a torque difference to zero substantially thereby preventing uncomfortable torque variation in a transient condition of input power control of the MG unit. The torque difference is calculated based on a first estimated torque calculated from a detected motor torque of the AC motor and a second estimated torque calculated from a command current vector for torque control of the AC motor.

Abstract: A servo control device that displays, by a two-dimensional image, evaluation of control precision of a servo system, includes: an instruction unit that instructs a position instruction having periodicity; a unit that records a track of position data based on a position feedback of a servo system according to the position instruction; and a first drawing unit that draws position data based on the position feedback, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including orthogonal two axes, as the axis data of the orthogonal two axes respectively.

Abstract: An apparatus and method of controlling a stepper motor, includes a torque calculator to calculate torque operated on the stepper motor and to output to a controller a driving current setting signal corresponding thereto. The controller outputs to a driver a control signal to apply variable driving current based on the driving current setting signal to the stepper motor. The driver drives the stepper motor based on the control signal inputted from the controller. Accordingly, overheating and inaccurate operations of a control IC (the controller) and the stepper motor may be prevented, and driving characteristics such as low power consumption, low vibration and low noise of the stepper motor may be improved.

Abstract: A motor controller comprising a machine system (12) having a load machine (1), a transmission mechanism (2) for transmitting power, and a motor for driving the load machine through the transmission mechanism; a simulator unit (11) having a numeric model (9) including the machine system, a simulation control section (19) for giving a torque command to the numeric model by using an observable quantity of state of the numeric model, and an evaluating section (10) for sending a control parameter to the simulation control section and an actual control unit; and the actual control unit (18) having an actual control section which receives an observable quantity of state of an actual system and has the same structure as that of the simulator unit and adapted to supply a torque signal to the motor serving as a drive source. Therefore the control gain of a motor controller can be automatically adjusted quickly and optimally.

Abstract: A system of intelligent appliances coupled by common household power lines or wireless links. One or more of the appliances serves as a system controller and may include a further communications interface for coupling to an external communications network, such as the telephone network. The system can thus be accessed and controlled remotely. The system can also communicate with and obtain information from remote sources such as Internet-based facilities.

Abstract: An electric power steering apparatus for assisting steering by conferring torque generated by an electric motor to a steering mechanism. The apparatus includes: a correction table created based on a result of actual measurement of torque ripple occurring when a predetermined reference current is supplied to the electric motor; a basic command value setting portion for setting a basic command value according to a steering manipulation of a driver; a current command value setting portion for setting a current command value by correcting the basic command value set by the basic command value setting portion with reference to the correction table; and a motor current control portion for controlling a current to be supplied to the electric motor based on the current command value set by the current command value setting portion.

Abstract: A novel low cost limited angle torque DC brushless servomotor is disclosed. The motor itself is a modified standard low cost DC brush motor which is modified by removing the brush assembly and substituting in its place an appropriately configured multiconductor flexible circuit which is coupled between a controller, the commutator and a magnetic rotor shaft angular displacement sensor. The flexible circuit has a dual function—it provides on one hand the conduit for electrical communication between the controller and the commutator and on the other hand between the sensor and the controller. Part of the circuit is supported between a bearing assembly and the commutator and flexes in consonance with the controlled limited angular rotation of the rotor without affecting performance or reliability of the motor. The rest of the circuit remains stationary during motor operation. The bearing assembly supports the sensor and is used to mount the motor in a housing for a pneumatic servovalve or the like.

Abstract: A driving apparatus equipped with a step controlling circuit drives stepping motors in a micro stepping manner. An encoder which detects a mover position of the motor supplies a signal to the controlling circuit, thereby halting the micro-step-driving. This structure eliminates the influence by detent torque, and allows the apparatus to control a motor positioning in an accurate manner.

Abstract: A satellite mechanism is provided for tilting a directional device such as an earth sensor, telescope, antenna, reaction wheel, etc. through a small angle using flexural supports which provide rigidity in all directions. The tilting mechanism is flexurally supported (semi-fixed) on two points and moved (pivoted) through a small arc at a driven point by an eccentric drive. The flexurally supported points comprise a diaphragm whose periphery is clamped to a supporting structure while one side of a flexural pivot is attached at the center and the other side of the flexural pivot is attached to the earth sensor or pivoted element. The driven point has a similar diaphragm whose periphery is attached eccentrically to an harmonic drive motor. Accordingly, the directional device may be driven through a small angle without moving the entire satellite.