Patent ID: 8134324

Claim:
A parallel mechanism comprising: a base portion; an end effecter; a bracket to which the end effecter is attached; a plurality of actuators attached to the base portion; a plurality of arms through which the plurality of actuators and the bracket are coupled together substantially in parallel; and a control device arranged to control and drive the plurality of actuators; wherein when the end effecter, in a stopped state, is moved to a target movement position, the control device is arranged to control the plurality of actuators so that a level at which the end effecter is accelerated is higher than a level at which the end effecter is decelerated by: storing a predetermined speed control pattern specifying a relationship between a time elapsed from a start of driving the plurality of actuators and a target speed of the end effecter; determining the target movement position of the end effecter based on the predetermined speed control pattern; determining a target driving position for each of the plurality of actuators according to the target movement position of the end effecter; and controlling each of the plurality of actuators to match a current position thereof to the respective target driving position.