Specifically, it relates to a control system in a transfer means that moves {HEAD ~ a load} with {TAIL ~ an assist force} of an operator in the operators desired direction and at the operators desired velocity when the operator imposes the force on the load, which load is suspended by a rope in a position or is vertically moved by winding a hoist drum up and down in one direction and a reverse direction by a servomotor driven in those directions, or which load is horizontally carried by a crane 
with
Specifically , it relates to a control system in a transfer means that moves { HEAD ~ a load } with { TAIL ~ an assist force } of an operator in the operators desired direction and at the operators desired velocity when the operator imposes the force on the load , which load is suspended by a rope in a position or is vertically moved by winding a hoist drum up and down in one direction and a reverse direction by a servomotor driven in those directions , or which load is horizontally carried by a crane
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