Kabushiki Kaisha Yaskawa Denki

Fujitsu Corporation

Kabushiki Kaisha Yaskawa Denki Seisakusho

Hiroshi Nakamura

Wennong Zhang

Susumu Sasaki

Eisuke Fukuda

Kazuhiro Tsuruta

Sadao Takenaka

Takanori Iwamatsu

Morihiko Minowa

Yukio Takeda

Yoshimasa Daido

Yoshihito Aono

Takashi Mamba

Shigeru Futami

Yasuhiko Kaku

Nobutsugu Fujino

Kazuo Iguchi

Go Yamaguchi

Jun Hagihara

Masaru Asahara

Shoji Takamatsu

Fumiaki Akazawa

Hideki Matsuda

Ken-ichi Murata

Seitaro Ohta

Yoshimasa Daidoh

Noriyasu Toyonaga

Ryushiro Yoshizawa

Yasuo Kishi

Fukashi Andoh

Hiroaki Ohyama

Ken-ichi Sadakane

Makoto Shiraga

Naomasa Hanano

A compound planetary gear mechanism includes at least two planetary gear mechanisms and a carrier. The at least two planetary gear mechanisms include a first planetary gear mechanism and a second planetary gear mechanism. The first planetary gear mechanism includes a plurality of first planetary gears. The second planetary gear mechanism includes a plurality of second planetary gears. The carrier is coupled to the plurality of first planetary gears and the plurality of second planetary gears. The carrier includes a first support shaft and a second support shaft. The first support shaft rotatably supports a first planetary gear among the plurality of first planetary gears. The second support shaft rotatably supports a second planetary gear among the plurality of second planetary gears and is independent of the first support shaft.

Compound planetary gear mechanism

This disclosure discloses a robot hand of underactuated mechanism. The robot hand includes a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion, three finger portions each including a plurality of links having bases coupled to the palm portion and coupled being capable of flexion, and a shape-fitting mechanism which is provided in at the finger portion, and which enables to grasp an object to be grasped in an enclosing manner with the finger portions by performing providing torsional displacement to the links.

Robot hand and robot device

A robot is provided with: a base section; three motors set on the base section; a support so set that an axial centerline is perpendicular to a surface of the base section; pulleys; three wires into which nonlinear springs are incorporated; an output shaft connected to a load; a differential mechanism having a pinion gear connected to the output shaft and also having an affixation member disposed at the upper end of the support; a universal joint disposed at the ring of the differential mechanism; and a wire guide disposed at the affixation member of the differential mechanism. Two side gears of the differential mechanism and two motors are connected in one-to-one correspondence by means of two wires through the pulleys, and the remaining motor and the universal joint are connected by means of the remaining wire which is passed through the wire guide.

Robot and control device for same

A motor control apparatus includes a sub-controller including a two-degree-of-freedom repetitive compensator and a shaping filter. The two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of a loop and a feedback delay placed in a feedback route thereof and is configured so that a total delay time provided by the forward delay and the feedback delay is equal to the cycle of a target command or a disturbance. The shaping filter is configured so that the product of the pulse transfer function of the two-degree-of-freedom repetitive compensator and the complementary sensitivity function of a general-purpose control system has a low-pass characteristic.

Motor control apparatus

A network monitor and control apparatus for controlling the monitoring of a network are provided. The network monitor includes an error monitor including an error information gatherer for gathering error information of a monitor target apparatus; and a monitor result notifier for notifying of monitor results, wherein if there are N types of monitor target functions, the error monitor includes N error information gatherers for the respective N types of monitor target functions (N=1, 2, 3, . . . ) and wherein each of the N error information gatherers gathers the error information from one of an existing monitor target apparatus and a newly added monitor target apparatus on a per monitor target function basis.

Network monitor and control apparatus

A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

Magnetic levitation system

A system identification device having a position amplitude calculator outputting a position amplifier; a position torque command integral value multiplier outputting a position torque command integral value multiplication value; a position torque command integral value average calculator inputting the position torque command integral value multiplication value and then outputting an average of a position torque command integral value; a speed torque command integral value multiplier outputting a speed torque command integral value multiplication value; a speed torque command integral value average calculator inputting the speed torque command integral value multiplication value and then outputting an average of a speed torque command integral value; and a first inertia moment and viscous friction calculator calculating identification values of inertia moment and viscous friction from the position amplitude, the average of the position torque command integral value and the average of the speed torque command integral value.

System identification device

When there exists an error between a model considered in feed-forward and an actual device, it is configured so as to enable the application of control having feed-forward such as predictive control without problem to reduce a model error. Furthermore, it is configured to enable more fine adjustment of the actual device by adjusting the balance of gains &#x3b1; and &#x3b2;. An operational unit is provided with an error signal calculation unit for outputting an error command and an error feedback value based on a position feed-forward signal and a position detection value, and an error compensation operation unit for controlling so that the error command and the error feedback value coincides with each other. This operational unit is provided at a control operation device.

Control calculation device

An object of the invention is to provide a servo control device capable of making zero the positional deviation the positional deviation at a constant speed as well as the positional deviation at a constant acceleration or at constant acceleration and jerk, thereby providing a high-precision follow-up response. In order to solve this problem, the servo control device according to the invention includes a position controller () for generating a speed command that matches the motor output with a target position, a feed-forward controller () for adding a signal obtained by multiplying the differential of a target command by a gain and a signal obtained by multiplying the second-order differentiation of the target command by a gain and generating a speed feed-forward signal, and a speed controller () for performing I-P or PI control of the motor ().

Servo control device

A controlling device of high follow-up accuracy is provided, the prediction accuracy of which is not degraded by an FF signal when the controlled object is feedforward-controlled. The prediction controlling device has a feedforward signal generation command filter for generating a future command increment which is an increment from one sampling period to the next sampling period of a target command signal from the present to a multiple-sampling future and the feedforward signal from the future target command signal. A prediction controller receives the future command increment, the feedforward signal, and a controlled object output at the past sampling time over zero sampling, and determines the future error prediction value by using a transfer function model from the feedforward signal and the control input to the controlled object output.

Prediction controlling device

There is provided a synchronous control apparatus of high synchronous control accuracy, and the synchronous control accuracy is seldom deteriorated even if input of the position command and detection of the main shaft position are delayed. The synchronous control apparatus comprises a command generating device, a main shaft device, and a subsidiary shaft device. The command generating device includes a memory for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means for outputting the main shaft position command increment &Dgr;r,(i) inputted before (M&minus;1) times of samplings in the values stored in the memory, a memory for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.

Growing community of inventors

Sagamihara, Japan

Hiroshi Nakamura