Hitachi, Ltd.

Hisaaki Hirabayashi

Koichi Sugimoto

Shinichi Arai

Tomoyuki Masui

Toshihiko Sakai

Kyozo Tachibana

Toyohide Hamada

Hiroshi Sugai

Hisakazu Ninomiya

Shiyuki Sakaue

Hidetoshi Inaba

A probing control apparatus for use in aligning an object comprises: a mechanism having n-degrees of freedom and adapted for controlling the object; n pieces of actuators for actuating the mechanism; detecting means for detecting change in the output from the object in response to the operation of each actuator; and control means for computing a command for each actuator in accordance with a change in the output detected by the detecting means and amount of movement of the mechanism, and for controlling each actuator in accordance with the command such that the output from the object takes the maximum value.

Probing control method and apparatus for mechanism with multiple degrees

The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.

Position correcting control system for servomechanism device

A working/assembling system including a dosed loop endless track, moving units adapted to travel on the endless track, at least one robot supported on one of the moving units for a working or assembling operation, and a control unit mounted on the other moving unit connected to the one moving unit having stored therein operations to be performed by the robot and causing the robot to perform the operations. The robot moves on the moving units as the latter travel on the endless track, and performs the operations for working on workpieces or assembling parts as it is controlled by the control unit.

Working/assembling system

The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.

Method and apparatus for calibrating transformation matrix of force

Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.

Method and apparatus for controlling a robot utilizing force, position,

A fitting device for fitting a peg member and a hole formed in a hole member into each other including a stationary base, a movable base for supporting one of the peg member and the hole member, and a three-dimensional spatial mechanism having at least six degrees of freedom. The three-dimensional spatial mechanism includes a plurality of sliders supported on the stationary base for non-linear movements.

Fitting device

Interfitting apparatus including a fitting jig formed with a plurality of regulating openings each for receiving therein one of a plurality of shaft members having chamfered forward ends, which are objects of interest, to hold the shaft members by regulating their posture and allow them to move freely within tight tolerances, and a table at least slightly movable in a horizontal direction for supporting, by precision positioning, an object formed with a plurality of holes separated from one another by a spacing substantially the same as the spacing between the regulating openings of the fitting jig. In fitting the shaft members in the respective holes in the object, the fitting jig is moved in a vertical direction toward the table, and guiding members and guided members mounted in the fitting jig and the table respectively are brought into engagement with each other so that the former may guide the latter, to thereby allow the table to move slightly in the horizontal direction to effect positioning of the shaft members and the object horizontally relative to each other within the range of the chamfers. Thereafter the fitting jig is further moved in the vertical direction to interfit the shaft members and the holes in the object with each other by exerting a fitting force on the shaft members from outside a jamming area.

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Yokohama, Japan

Hisaaki Hirabayashi