Patent ID: 8154226

Claim:
An operating apparatus comprising: a main body; a movable member which is movable relative to the main body; a drive unit which includes a drive source and moves the movable member relative to the main body; and a control unit which controls the drive source so as to control the position of the movable member relative to the main body, the control unit including: a position control system including (a) a position command portion which outputs a first position command designating the position of the movable member, (b) a first feedforward compensator which receives the position command from the position command portion and outputs a first operation command to the drive source, (c) a second feedforward compensator which receives the position command from the position command portion and outputs a second position command, (d) a positional-information acquiring device which obtains information related to the position of the movable member, and (e) a first feedback compensator which receives as an input a difference between the second position command outputted from the second feedforward compensator and an output of the positional-information acquiring device, and outputs a second operation command to the drive source; and an acceleration control system including (f) an acceleration-information acquiring device which obtains information related to an acceleration of the main body, (g) a third feedforward compensator which receives as an input the first position command from the position command portion and outputs an acceleration command, and (h) a second feedback compensator which receives as an input a difference between the first position command outputted from the third feedforward compensator and an output of the acceleration-information acquiring device, and outputs a third operation command to the drive source.