Waseda University

Xela Robotics Co., Ltd.

Alexander Schmitz

Shigeki Sugano

Wei Wang

Tito Pradhono Tomo

Sophon Somlor

Yoshihiro Sakamoto

Kento Kobayashi

Soumya Bhavaraju

Gonzaro Aguirre Dominguez

Alexis Carlos Holgado

Javier Alvarez Lopez

Ritsuki Sato

Chincheng Hsu

Yushi Wang

A detection deviceaccording to the present invention is provided with a calibration meansthat specifies a relational expression between an output value from a force sensorwhen an external force is applied and the magnitude of the external force. The relational expression contains a formula that includes a predetermined parameter and with which it is possible to calculate, according to an offset value obtained as the output value when the sensor is free of contact and not acted upon by the external force, the magnitude of the external force from the actual output value. The calibration meansis provided with a function derivation unitthat derives a function for calculating the parameter value from the offset value, and a parameter value determination unitthat uses the function to determine the parameter value. The function derivation unitgenerates the function from the output value when a known external force is applied and an offset value from a preceding step, and the parameter value determination unitcalculates the parameter value from the offset value acquired in a state in which the force sensoris disposed on a predetermined site where the external force is to be measured.

Detection device and sensor calibration method

A magnetic sensing systemaccording to the present invention is provided with a sensing devicethat generates an electrical signal according to the strength of a magnetic field that changes in response to the action of an external force, and a detection devicethat detects a physical quantity associated with the action of the external force from a change in the magnetic field based on the electrical signal from the sensing device. The sensing deviceincludes magnetic field generation meansandthat generate a desired measurement magnetic field of different strengths from a site that is displaced by the action of the external force, and a magnetic field measurement meansthat measures the strength of a surrounding magnetic field including the measurement magnetic field. The detection deviceuses a relational expression stored in advance to specify, on the basis of fluctuations over time in the measurement magnetic field of different strengths, a magnetic interference amount corresponding to the strength of an interference magnetic field generated separately from the measurement magnetic field, and calculates the physical quantity by removing the influence of the magnetic interference amount.

Magnetic sensing system, detection device, and magnetic interference offset method

A torque limiterincludes an input unitconnected to a driving device M on input side, and an output unitconnected to a robot arm A on output side. The input unitand the output unitinclude a coupling structure in which the input unitand the output unitapproach and recede from each other so as to enable switching of a connecting state where the input unitand the output unitare connected to each other and a non-connecting state where the input unitand the output unitare not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnetthat enables adjustment of the magnetic force through adjustment of an application voltage.

Torque limiter

A control system () according to the present invention includes a robot arm () provided in a manner capable of moving in a given space, a motor () for operating the robot arm (), a torque adjustment device () for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor () to the robot arm (), and a control device () for performing operation control of the robot arm (). The robot arm () is provided with a gravity-compensating mechanism () for cancelling an effect of gravity due to the robot arm (), and the control device () commands adjustment of the transmitted torque at the torque adjustment device (), without taking into account the effect of the gravity of the robot arm ().

Robot arm control system

Growing community of inventors

Tokyo, Japan

Alexander Schmitz