Canon Kabushiki Kaisha

Ebara Corporation

Masayuki Nagai

Shin Takahashi

Takahide Ozawa

Akihiro Ochiai

Kazuma Nishimura

Yohei Oishi

Yuhei Shinchi

Motor

A robot hand controlling method executes calculating a position and changing grip force when the grip force for gripping a work W is to be changed in a state that fingers are gripping the work W with first grip force. In the calculating the position, the hand controlling unit uses a correlation value indicating a relationship between the grip force of the fingers and position of fixing portions, the first grip force, and second grip force that is a target value of the grip force to calculate the position of the fixing portions in gripping the work W with the second grip force. In the changing the grip force, the hand controlling unit drives a motor by calculating a driving quantity of the motor necessary for moving the fingers to the calculated position of the fixing portions.

Robot hand controlling method and robotics device

An object of this invention is to finely set the voltage at high speed without decreasing the efficiency. In a power supply for switching operation including a switching circuit, an output circuit, a control table which stores data on the ON and OFF periods of the switching circuit in correspondence with a set voltage, an arithmetic processing unit which performs reading operation from the control table and PWM operation, and a digital control unit which controls the switching circuit by outputting a PWM signal, feedback control based on the output voltage is performed in a case where the output voltage is not changed. When changing the output voltage, the feedback control is switched over to control based on data in the control table to change the output voltage at high speed.

Power supply for switching operation, electronic apparatus including the same, and method of controlling the same

There is provided a switching power source capable of quickly responding to a change in output at high efficiency over a wide output voltage range. The power source includes an integrator, a comparator which compares an output from the integrator with a quantization reference value, and a sampling circuit which samples an output from the comparator in synchronism with a clock signal. The power source further includes a &#x394;&#x3a3; modulator which quantizes an output from the integrator, outputs a quantized signal, and negative-feeds back the quantized signal to suppress the quantization error of the input signal. In the switching power source, a resistance value adjustment circuit changes the hysteresis width of the quantization reference value by changing the resistance value of the variable resistor of the comparator on the basis of a signal output from a detection circuit which detects at least one of an external control signal and the output voltage and load current of the switching power source.

Switching power source, switching power source control method, electric apparatus having the switching power source, and printing apparatus having the switching power source

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Tokyo, Japan

Masayuki Nagai