Patent ID: 6996506

Claim:
A process for displacing a moveable unit ( 4 ) on a base ( 2 ), said moveable unit ( 4 ) being displaced linearly according to a predetermined displacement under the action of a controllable force (f), wherein: a) equations are defined which: illustrate a dynamic model of a system formed by elements ( 2 , 4 , MA, MA 1 , MA 2 , MA 3 ), of which said moveable unit ( 4 ) is one, which are brought into motion upon a displacement of said moveable unit ( 4 ); and comprise at least two variables, of which the position of said moveable unit ( 4 ) is one; b) all the variables of this system, together with said force (F), are expressed as a function of one and the same intermediate variable y and of a specified number of derivatives as a function of time of this intermediate variable, said force (F) being such that, applied to said moveable unit ( 4 ), it displaces the latter according to said specified displacement and renders all the elements of said system immobile at the end of said displacement; c) the initial and final conditions of all said variables are determined; d) the value as a function of time of said intermediate variable is determined from the expressions for the variables defined in step b) and said initial and final conditions; e) the value as a function of time of said force is calculated from the expression for the force, defined in step b) and said value of the intermediate variable, determined in step d); and f) the value thus calculated of said force (F) is applied to said moveable unit ( 4 ).