In accordance with the present invention, a method of moving a member includes the steps of providing parameters related to a given desired position of the member, the parameters corresponding to a switch time, a final time, {HEAD ~ an acceleration amplitude}, and a deceleration amplitude; using the parameters to specify a piecewise continuous function of time for an input signal; and feeding the input signal to {TAIL ~ a motor} to move the member 
In accordance with the present invention , a method of moving a member includes the steps of providing parameters related to a given desired position of the member , the parameters corresponding to a switch time , a final time , { HEAD ~ an acceleration amplitude } , and a deceleration amplitude ; using the parameters to specify a piecewise continuous function of time for an input signal ; and feeding the input signal to { TAIL ~ a motor } to move the member
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