Matsushita Electric Industrial Co., Ltd.

Makoto Doi

Akiyoshi Nakada

Mikio Hasegawa

Toshitsugu Inoue

Kenji Sogawa

Kuninori Takezawa

Akira Matsumoto

Isamu Nakade

Jouji Wada

Ken Ikoma

Tomoyoshi Nakaigawa

Toshitugu Inoue

Toshiharu Aikawa

Haruo Tada

Toshihiro Ide

Kiyoshi Shinki

Kenji Urushibara

Haruo Kaji

Kouji Ooi

The present invention provides an iris imaging apparatus is configured of a platform; a wide angle camera for imaging an image of a person to be authenticated; wide angle camera lighting devices controlled to emit light when the wide angle camera shoots; a telephoto camera for imaging the enlarged image of the eye of the person to be authenticated; iris lighting devices controlled to emit light when the telephoto camera shoots; first motors for rotating the iris lighting devices and directing the luminous light in the direction of the person to be authenticated; a turning stage mounted with the wide angle camera, the wide angle camera lighting devices, the telephoto camera, the iris lighting devices and the first motors, the turning stage rotatablly mounted on the platform; and a second motor for turning the turning stage. All the components required for the turning operation are mounted on the turning stage.

Iris imaging apparatus

A disk recording/reproducing device includes a power transmitting mechanism which transmits movement of a pickup while engaging with the pickup, and a disk retaining mechanism which, in response to the movement of the pickup transmitted by the power transmitting mechanism, retains a disk on a turntable or releases retention of the disk. Radially inward movement of the pickup causes the disk retaining mechanism to retain the disk on the turntable, while radially outward movement of the pickup causes the disk retaining mechanism to release retention of the disk. For accomplishing the release of the retention of the disk upon the radially outward movement of the pickup, an operation switching mechanism is provided for changing a position of the power transmitting mechanism to cause the power transmitting mechanism to engage with the pickup upon the radially outward movement of the pickup.

Disk recording/reproducing device

In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.

Industrial robot

An industrial robot includes a movable arm and an electric motor driving the arm. A current flowing through the motor is controlled so that the arm is moved into predetermined positions and is balanced in the predetermined positions sequentially. A device memorizes values of the motor current at which the arm is balanced in the respective predetermined positions. A target value of the motor current is calculated on the basis of the memorized motor current values. The target motor current value allows the arm to be balanced in a given position.

Upper parallelogram links (8, 8, 5, 12) and lower parallelogram links (14, 14, 12, 17) are series connected at an intermediate driving unit 12 with direction of the journal shafts (7, 7, 10, 10) of the upper parallelogram links and direction of the journal shafts (13, 13, 16, 16) of the lower parallelogram links being perpendicular to each other; thereby a third driving unit 17, to which a shaft of a hand 19 is mounted, is always kept in parallel to a first driving unit 5 irrespective of the position of the hand 19; thus a reliable handling by hand is assured, and also accurate horizontal motions are attainable with conventional computing means.

Handling apparatus

Growing community of inventors

Ishikawa-gun, Japan

Makoto Doi