Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in an array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.

Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in an array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.

A system for wirelessly transmitting power between a track and independent movers in a motion control system includes a pick-up coil provided proximate to the magnets on the movers. The fundamental component of the voltage applied to the drive coils interacts primarily with the magnetic field generated by the permanent magnets on the movers and not with the pick-up coil. Consequently, the pick-up coil does not interfere with desired operation of the movers but rather, interacts primarily with the harmonic components and has current and voltages induced within the pick-up coil as a result of the harmonic components. The energy captured by the pick-up coil reduces the amplitude of eddy currents on the mover. After harvesting the harmonic content, the pick-up coil may be connected to another circuit on the mover and serve as a supply voltage for the other circuit.

A system for wirelessly transmitting power between a track and independent movers in a motion control system includes a pick-up coil provided proximate to the magnets on the movers. The fundamental component of the voltage applied to the drive coils interacts primarily with the magnetic field generated by the permanent magnets on the movers and not with the pick-up coil. Consequently, the pick-up coil does not interfere with desired operation of the movers but rather, interacts primarily with the harmonic components and has current and voltages induced within the pick-up coil as a result of the harmonic components. The energy captured by the pick-up coil reduces the amplitude of eddy currents on the mover. After harvesting the harmonic content, the pick-up coil may be connected to another circuit on the mover and serve as a supply voltage for the other circuit.

To provide a motor system that can control the position of a control object in multiple directions while suppressing the number of required switching elements. A motor system includes: a power conversion device including first, second, and third up-down arms each including two switching elements connected in series; a control object; and a first load including a magnetic pole tooth facing the control object, and a winding wound around the magnetic pole tooth. The motor system includes a second load including two magnetic pole teeth facing each other in a second direction with the control object therebetween, and a winding wound around one or both of the magnetic pole teeth. The power conversion device provides a force with respect to a first direction to the control object through an output to the first load, and provides a force with respect to the second direction to the control object through an output to the second load.

Various aspects of the present disclosure are directed to a transport device in the form of a planar motor. In one embodiment, the transport device includes at least one transport segment, first and second coil groups, frive magnets and a control unit. The at least one transport segment forms a transport plane and includes at least one transport unit that moves in the transport plane at least two-dimensionally along two main movement directions. The first coil group, which defines the first main movement direction and has first drive coils, is arranged on the at least one transport segment. The second coil group defines the second main movement direction and has second drive coils is arranged on the at least one transport segment. The drive magnets are arranged on the at least one transport unit. The control unit controls the first drive coils, and the second drive coils.

Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and a control device that supplies power to the one or more power supply target coils by using a deviation integral value obtained by integrating a speed deviation that is a difference between an instructed speed of the mover and an actual speed of the mover. The control device includes: a compensator that calculates a post-division deviation integral value by dividing a post-summation deviation integral value, which is a value obtained by summing the deviation integral value used to supply power to each of the one or more power supply target coils immediately before the switching, by the total number of the one or more power supply target coils immediately after the switching; and a current control unit.

A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and a control device that supplies power to the one or more power supply target coils by using a deviation integral value obtained by integrating a speed deviation that is a difference between an instructed speed of the mover and an actual speed of the mover. The control device includes: a compensator that calculates a post-division deviation integral value by dividing a post-summation deviation integral value, which is a value obtained by summing the deviation integral value used to supply power to each of the one or more power supply target coils immediately before the switching, by the total number of the one or more power supply target coils immediately after the switching; and a current control unit.