Nidec Corporation

Sankyo Seiki Mfg. Co., Ltd

Nidec Sankyo Corporation

Kabushiki Kaisha Sankyo Seiki Seisakusho

Haruhiro Tsuneta

Hirokazu Watanabe

Yuu Ayuzawa

Hideyuki Odagiri

Thanh Nhat Doan

Kazuyoshi Yasukawa

Yasuyuki Kitahara

Akihiro Ito

Masahiro Yoshida

Takayuki Narita

Yuzo Oguchi

Shunya Yazawa

Masao Hiraguri

Sunao Yonekubo

Takehiko Akahane

Vineet Jacob Kuruvilla

Keiji Osada

Syungo Yasaki

In a method of obtaining an angle of each joint of a 6-axis vertical articulated robot when a position and a posture of an end effector attached on a sixth axis are given, a predetermined amount of offset exists between a sixth axis and a fourth axis, and the method includes sequentially determining a point of interest, which is a point on a circumference of a circle having the predetermined amount as a radius, around a first intersection point, on a plane which includes the first intersection point which is an intersection point of the sixth axis and the fifth axis and the plane which is orthogonal to the sixth axis, calculating a second intersection point, which is an intersection point of the fourth axis and the third axis, when it is assumed that the point of interest is an intersection point of the fifth axis and the fourth axis, calculating an inner product value of a first vector directed from the calculated second intersection point to the point of interest and a second vector directed from the point of interest to the first intersection point, and estimating that the point of interest, when an absolute value of the inner product value is less than or equal to a predetermined threshold, is an intersection point of the fifth axis and the fourth axis.

Robot control apparatus, and method and program for obtaining angle of joint of robot

A calibration apparatus of a robot that includes an arm, a joint attached to the arm, a motor provided to the joint, and a gear speed reducer provided between the motor and the joint includes setting circuitry that sets a destination position of the end of the arm in a predetermined three-dimensional space, acquiring circuitry that acquires an angle of the joint when the end of the arm is moved to the destination position, adjusting circuitry that adjusts the angle acquired by the acquiring circuitry in accordance with rotational angle transmission error in gears of the gear speed reducer, and correcting circuitry that corrects Denavit-Hartenberg (DH) parameters of the robot by using the angle adjusted by the adjusting circuitry.

Calibration apparatus and calibration method

A method of evaluating calibration precision includes a setting step of setting a three-dimensional lattice structure including lattice points and a movement instructing step of moving an arm tip of a calibrated robot from a first lattice point to a second lattice point spaced from the first lattice point. The method includes a calculating step of calculating a difference between a movement instruction value given to the robot and an actual distance by which the arm tip of the robot is moved. The method includes a repeat controlling step of repeating the movement instructing step and the calculating step multiple times using a pair of lattice points other than the first and second lattice points and a presenting step of presenting differences obtained by the repeat controlling step.

Method and device for evaluating calibration precision

An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.

Articulated robot and articulated robot system

A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.

Robot control apparatus, robot control method, and program

Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part of a robot, a motor and a reduction gear are housed in a case, and an output-side member having a flange is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot is provided with a plurality of biaxial joint units comprising two joint parts. In the robot, the attachment face of the case of one joint part constituting a biaxial joint unit is fixed to the flange of the other joint part either directly or via a coupling member.

Robot

A motor system includes a motor, and a multi-turn absolute encoder that detects a rotation number and an absolute angular position of a rotation shaft of the motor. The multi-turn absolute encoder includes: an absolute angular position detection device that detects the absolute angular position within one rotation period of the rotation shaft; and a storage element that stores the rotation number of the motor. Even if the driving of the multi-turn absolute encoder is stopped while the motor is stopped, the multi-turn absolute encoder detects the multi-turn position of the rotation shaft after startup. Further, the motor has a brake mechanism including: a gear-type brake wheel that rotates integrally with the rotation shaft; an engagement member capable of engaging with the teeth of the gear-type brake wheel; and an actuator which causes the teeth and the engagement member to engage with each other during braking.

Motor System

A magnetic type rotation detection device may include a magnet body formed with a magnetic pole pair comprised of an 'S'-pole and an 'N'-pole and provided on a rotation body, a magnetic sensing element facing the magnet body in a rotation center axial line direction of the rotation body, a partition member disposed between the magnet body and the magnetic sensing element, and a ring fixed to a face of the partition member on a side where the magnet body is located. A center of the magnetic sensing element may be located on a center axial line of the ring. The magnet body may be disposed on an inner side of the ring in a non-contact state with the ring. A center of the magnet body may be located on the center axial line of the ring.

Magnetic type rotation detection device and its manufacturing method

A bearing test method and a bearing test device are provided for bearings in which a non-contact state is maintained between a shaft element and a bearing element in a normal rotation state. In addition, a motor bearing monitoring device is provided to detect an abnormality in a motor or that a motor's life is near its end, where the motor utilizes the bearing. Furthermore, a storage device such as a hard disk drive equipped with the motor monitoring device is provided. For a bearing that can retain a shaft element and a bearing element coaxially positioned in a non-contact state when the number of revolutions exceeds a predetermined number of relative revolutions, a bearing test method is provided to determine whether the shaft element and the bearing element are in a contact rotation state. The bearing test method includes at least the steps of rotating the shaft element and the bearing element relatively with one another and detecting impedance between the shaft element and the bearing element in the relative rotation state. A determination is made based on a change in impedance as to whether the shaft element and the bearing element are in a contact rotation state.

Bearing test method, bearing test device, bearing monitoring device and storage device

With an operation handle arranged in the neighborhood of e.g. a microscope for operation as an appliance to be supported attached to the tip of plural arms rotatably coupled with one another, the operation force applied to the operation handle is detected as a signal in directions of plural axes by a force/torque sensor, the detected force/torque information in each of the directions of the plural axes is impedance-control and track-control to compute an operation command for each joint in the plural arms, and on the basis of the operation command for each joint, the plural arms are moved in the direction of the operation force.

Method of controlling force assisting device and control apparatus using the same

An automatic transaction apparatus comprises a media operation unit having a card access port and paper currency depositing/receiving port and a housing unit which includes a card process portion and a plurality of paper currency dispenser portions which are positioned at the side of the card access port and the paper currency depositing/receiving port. Also included are a slider portion which is arranged to be movable in a given direction behind the card access port and the paper currency depositing/receiving port and in front of the card process portion and the plurality of paper currency dispenser portions. Further included are a transport unit which is supported by the slider portion, and which has a chuck portion which is movable between the operation unit and the housing unit. A controller also forms part of the apparatus; the controller controls movement of the slider portion and the chuck portion. The media operation unit is designed so that it moves to a position corresponding to the card insertion portion or paper currency depositing/receiving portion on the media operation unit to receive different media such as a card or paper currency from the chuck portion. The slider portion is designed so that it moves to the position corresponding to the card process portion or the plurality of paper currency dispenser portions of the housing unit to deliver the different media thereto.

Growing community of inventors

Kyoto, Japan

Haruhiro Tsuneta