obtaining a switch time parameter, a final time parameter, an acceleration amplitude parameter, and a deceleration amplitude parameter corresponding to the data related to {HEAD ~ the desired final position} of {TAIL ~ the movable member} 
of
obtaining a switch time parameter , a final time parameter , an acceleration amplitude parameter , and a deceleration amplitude parameter corresponding to the data related to { HEAD ~ the desired final position } of { TAIL ~ the movable member }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL