A control device is provided which is operable to change the position of a distal end side link hub by driving each of arms, which are proximal end side links of a plurality of link mechanisms by means of an actuator. When in a series of operations, the position change of the distal end side link hub is mad by an angle greater than a predetermined angle, a relay position setting unit is provided for setting a relay point between a starting point and a terminating point of each of the arms so that the interference of the three axis arms may be relieved. A position change control unit performs a position control so as to pass simultaneously through the relay point so set.

The present disclosure provides a method for controlling a handheld gimbal and a handheld gimbal. The method for controlling a handheld gimbal includes: upon rotation of a handheld gimbal, obtaining current attitude information of a photographing device and current attitude information of a handle; according to the current attitude information of the photographing device and the current attitude information of the handle, obtaining target attitude information of the photographing device; according to the current attitude information of the photographing device and the target attitude information, controlling a shaft joint of the handheld gimbal to rotate so that the attitude of the photographing device follows the attitude of the handle.

The present disclosure relates to a handheld tool, a method of adjusting a shape of a handle body and an apparatus using the same. The handheld tool includes a tool head; a handle body connected to the tool head; a ranger configured to scan and measure a radius of rotation of the handle body, wherein the radius of rotation of the handle body indicates a minimum value of a maximum unobstructed length of the handle body in each radial direction of a rotation direction; and a controller connected to the handle body and the ranger and configured to: detect an operation instruction with regard to the tool, and in response to the operation instruction, control the ranger to measure the radius of rotation of the handle body and adjust a shape of the handle body based on the measured radius of rotation.

Methods of determining movement data representing the movement of a machining tool of an optical lens lathing device for machining one or more optical surfaces or parts thereof of a set of optical surfaces are described. The methods comprise a greatest radial slope amplitude determining step during which the greatest radial slope amplitude of the optical surfaces of the set of optical surfaces is determined. The methods also comprise a machining tool selecting step during which a machining tool having a window angle greater than or equal to the greatest radial slope amplitude of the optical surfaces of the set of surfaces to be manufactured is selected. The methods further comprise a movement data determining step during which movement data representing the movement of the selected machining tool are determined and synchronized with the angular position of the optical surface driven in rotation.

The present disclosure relates to a handheld tool, a method of adjusting a shape of a handle body and an apparatus using the same. The handheld tool includes a tool head; a handle body connected to the tool head; a ranger configured to scan and measure a radius of rotation of the handle body, wherein the radius of rotation of the handle body indicates a minimum value of a maximum unobstructed length of the handle body in each radial direction of a rotation direction; and a controller connected to the handle body and the ranger and configured to: detect an operation instruction with regard to the tool, and in response to the operation instruction, control the ranger to measure the radius of rotation of the handle body and adjust a shape of the handle body based on the measured radius of rotation.