Seiko Epson Corporation

Other

Seiko Seiki Co., Ltd.

Masayuki Okuyama

Hiroshi Miyazawa

Kazuhiro Gomi

Norio Yokoshima

Toshimi Shioda

Kohei Utsunomiya

Yuki Ishii

Masayuki Iiyama

Nobuyuki Setsuda

Takayuki Kameyama

A surface of a workpiece has a smooth region, and a stepped region including a step. A three-dimensional object printing method includes first print operation of ejecting liquid from a head onto the smooth region, and second print operation, antecedent to or subsequent to the first print operation, of ejecting liquid from the head onto the stepped region. The amount of change in an angle of ejection, which is angle formed by a first normal line and a second normal line, during execution of the second print operation is larger than the amount of change in the angle of ejection during execution of the first print operation. The first normal line is a line normal to the ejection face. The second normal line is a line normal to the surface of the workpiece at a point of intersection with the first normal line.

Three-dimensional object printing method and robot teaching method

A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.

Teaching control method for robot and robot system

A display method according to an aspect of the present disclosure is a display method for displaying, on a display section, a simulation of a robot that executes work on an object with an end effector provided in an arm. The display method includes receiving information concerning a type of the robot, receiving information concerning the end effector, receiving information concerning a position or a posture of a control point for controlling arms, calculating rigidity at a working point of the end effector based on the received information concerning the type of the robot, the received information concerning the end effector, and the received information concerning the position or the posture of the control point, and displaying a result of the calculation of the rigidity on the display section as a figure.

Display method

A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.

Teaching method

A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object, the robot control method including a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved and a driving step for driving the robot arm with force control based on the plurality of target positions set in the target-position setting step and force applied to the robot arm and performing the predetermined work.

Robot control method and robot system

A control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: control a robot with force control on the basis of a force detected by a force detecting device, determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit, control the robot with the force control in the fitting work, and determine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work.

Control device, robot, and robot system

A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including-an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

Liquid droplet discharging method, and liquid droplet discharging apparatus

A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

The current position of a work is sequentially updated in a conveyor coordinate system, and the path of a robot to follow the work is formed by transforming the position of the work from the conveyor coordinate system to a robot coordinate system.

Method for controlling robot and robot controller using the method

A robot controller and its control method use a generic personal computer and a PC operating system. The controller,comprises the following: a task-switching unit,that switches tasks on a pre-emptive basis; an external interrupt generator,that uses an external timer to generate interrupts at specified fixed time intervals; an event drive unit,that performs event drive processing in synchronization with the interrupts generated by the external interrupt generator,; an event registration unit,that registers the fact that the application program which performs processing in response to the occurrence of the event is waiting for the occurrence of the event; an event resource state storage unit,that stores event resource states in order to keep track of and recall the occurrence of events; an event resource state update unit,that updates the conditions of event resources stored in the event resource state storage unit,; and a swap-out prevention unit,that prevents the swapping out of programs for which real time processing is required.

Real time control method for a robot controller

A robot controller and its control method use a generic personal computer and a PC operating system. The controller 10 comprises the following: a task-switching unit 30 that switches tasks on a pre-emptive basis; an external interrupt generator 50 that uses an external timer to generate interrupts at specified fixed time intervals; an event drive unit 40 that performs event drive processing in synchronization with the interrupts generated by the external interrupt generator 50; an event registration unit 60 that registers the fact that the application program which performs processing in response to the occurrence of the event is waiting for the occurrence of the event; an event resource state storage unit 70 that stores event resource states in order to keep track of and recall the occurrence of events; an event resource state update unit 80 that updates the conditions of event resources stored in the event resource state storage unit 70; and a swap-out prevention unit 90 that prevents the swapping out of programs for which real time processing is required.

Growing community of inventors

Suwa, Japan

Masayuki Okuyama