Operating apparatus
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United States of America Patent
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Apr 10, 2012
Grant Date -
Sep 10, 2009
app pub date -
Mar 4, 2009
filing date -
Mar 7, 2008
priority date (Note) -
In Force
status (Latency Note)
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Abstract
An operating apparatus including a main body, a movable member, a drive unit having a drive source, and a control unit controlling the drive source to control the position of the movable member relative to the main body. The control unit including a position control system and an acceleration control system. The position control system including a position command portion, a first feedforward compensator outputting a first operation command to the drive source, a second feedforward compensator, a positional-information acquiring device obtaining information related to the position of the movable member, and a first feedback compensator outputting a second operation command to the drive source. The acceleration control system including an acceleration-information acquiring device obtaining information related to an acceleration of the main body, a third feedforward compensator, a second feedback compensator outputting a third operation command to the drive source.
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