Fujitsu Corporation

Hiroyuki Kano

Kuniharu Takayama

Yoshiharu Maeda

Kazuo Misue

Shinya Hosogi

Kozo Sugiyama

Using a writing implement model defined in the O-XYZ coordinate system a character or graphic form is generated on a writing plane model (O-XY plane) defined in the O-XYZ coordinate system. A control polygon for a character or graphical form to be generated is designed in advance in the O-XYZ coordinate system and a smooth writing motion model is generated using local basis functions that are weighted by the coordinate values of the respective vertices of that control polygon. The position component of the writing motion model represents variations in the position of a representative point of the writing implement model in the O-XYZ coordinate system with respect to time, and the posture component of the writing motion model represents time-variations of its inclination in the O-XYZ coordinate system with respect to the O-XYZ coordinate system. The writing implement model and the writing plane model intersect at a time, thereby forming a character segment. If character segments are generated at regular intervals between the start point and the end point of the writing motion, then the entire image of a character or graphic form will be obtained automatically.

Method and device for generating graphic data using a writing motion

A robot control system includes: an end effector for acting upon an object to be worked; a manipulator mechanically supporting the end effector to apply predetermined movements to the end effector; a plurality of sensors mounted on the end effector to detect a position (x) of the end effector and a force (f) between the end effector and the object and to obtain an acceleration speed (x'), a speed (x') and a work rate (-x'f) of the end effector; a pre-controller for controlling movement of the end effector and the manipulator; a plurality of selection function units connected in parallel to the pre-controller and at least one of the selection function units being selected in accordance with the acceleration speed (x'), the speed (x') and the work rate (-x'f); and a plurality of control units each connected to a corresponding selecting function unit for inputting a target trajectory (x.sub.d) of the end effector and for outputting a control signal (u) to the pre-controller to control movement of the end effector and the manipulator; wherein, the selection function unit is selected in accordance with a value of either '0' or 'other than 0' of the acceleration speed, the speed and the work rate; and the control signal from the control unit corresponding to the selection function unit is input to the pre-controller to control movement of the end effector and the manipulator through the selection function unit.

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Hiki, Japan

Hiroyuki Kano