Patent ID: 6798117
Filing Date: 2004-09-28
Classification: H02N

Abstract:
Method for driving an electromechanical motor, having a stator actuating on an object to be moved in a main direction by drive elements, comprising the steps of:providing a first set of voltage signals to a first set of said drive elements, said first set of voltage signals comprising at least one voltage signal; providing a second set of voltage signals to a second set of said drive elements, said second set of voltage signals comprising at least one voltage signal; controlling said first set of voltage signals to cause contact portions of said first set of said drive elements to move along a first trajectory; controlling said second set of voltage signals to cause contact portions of said second set of said drive elements to move along a second trajectory; said first and second trajectories being arranged for causing a motion of said moving object relative to said stator by means of repetitions of small steps, ensuring a mechanical contact between said stator and said moving object at every instant; applying a normal force between said stator and said object; said normal force having a magnitude sufficient for causing an elastic deformation of said stator being at least in the same order of magnitude as height uncertainties of said stator perpendicular to said main displacement direction of said moving object.