Other

Kabushiki Kaisha Yaskawa Denki

Kenichi Yasuda

Yasuyuki Inoue

Koichi Kuwahara

Hideo Nagata

Shingo Ando

Ryoichi Nagai

Wataru Watanabe

Yoshifumi Onoyama

Nathanael Mullennix

Hiroyuki Shiraiwa

Toshihiro Iwasa

Yoshio Takakura

Koji Satou

Kenjiro Narita

Yukio Hirama

A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

Robot simulator, robot system and simulation method

A motion teaching apparatus includes a teaching motion detection device, a demonstration tool, and circuitry. A robot includes a leading end to move in a first coordinate system. A teaching motion detection device detects a position of the demonstration tool in a second coordinate system. The circuitry derives a relationship between the first and second coordinate system based on a position of the demonstration tool in the first coordinate system at at least one spot and based on the position of the demonstration tool in the second coordinate system at the at least one spot; obtains a transition of the position of the demonstration tool during the demonstration using the demonstration tool; and generates a motion command to control motion of the leading end of the robot based on the transition and the coordinate system relationship information.

Motion teaching apparatus, robot system, and motion teaching method

A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

Robot control apparatus and method

To eliminate a vertically asymmetrical deflection, a rolling mill comprises a device for measuring horizontal deflections of upper and lower work rolls 2, 3 during rolling, a device for comparing values measured on the upper and lower sides and calculating the difference therebetween, and a horizontal deflection controller four determining whether the difference exceeds a predetermined range or not and imparting a horizontal bending to at least one of the work rolls. To eliminate a transversely asymmetrical deflection, a rolling mill comprises a device for measuring horizontal deflections of at least one of the work rolls at axially spaced positions during rolling, a device for comparing values measured on at the axially spaced positions and calculating the difference therebetween, and a horizontal deflection controller for determining whether the difference exceeds a predetermined range or not and imparting a horizontal bending to the one work roll at least one of the axially spaced positions. This prevents an adverse effect by the work rolls being horizontally deflected in a vertically or transversely asymmetrical way, reduces the diameter of the work rolls, and increases the allowable rolling load. Stable rolling of high-quality strips with good shape or flatness is thus achieved.

Rolling mill and method

Growing community of inventors

Fukuoka, Japan

Kenichi Yasuda