Sughrue, Mion, Zinn, Macpeak & Seas, PLLC
Method of operating a virtual mechanical module which simulates a mechanical device
 An apparatus for synchronously controlling the actual operation of a machine using one or more motors, such as servo motors, by simulating in program form a combination of selectable machine mechanisms, including drivers, connecting shafts, clutches, gears and cams. Each such machine mechanism is represented by a virtual mechanism, preferably as a software module that contains information uniquely identifying the module, operation information that defines the generation of position information and connection information that defines other modules to which connection is made. The software modules comprise drive modules for generating position information, transmission modules for simulating the transmission mechanisms and output modules for outputting motor commands. 
Mitsubishi Denki Kabushiki Kaisha
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Hidehiko Yasuharu Yoshichika Yasuyuki Misako Makoto Tohru
Matsumoto Kudo Takizawa Suzuki Okada Nishimura Tsujimoto