Hitachi, Ltd.

Panasonic Liquid Crystal Display Co., Ltd.

Hitachi Displays, Ltd.

Japan Display Inc.

Mitsubishi Hitachi Power Systems, Ltd.

Hitachi Automotive Systems, Ltd.

Nobuaki Nakasu

Takeshi Arai

Kaichiro Nishi

Keiji Suzuki

Mitsuru Onoda

Yasuaki Kageyama

Daiki Kajita

Yuta Yamauchi

Harumasa Tsuchiya

Yoshitaka Tsutsui

Tadao Edamura

Tetsuya Kawamura

Takeshi Matsuo

Hitoshi Azuma

Noriyuki Oroku

Yoshimi Mori

Yuichiro Tanaka

Hiroshi Hamano

Kazushi Yoshimura

Kengo Iwashige

Toshiyuki Koshita

Hiroyasu Matsuura

Kei Imazawa

Tsuneo Okada

Yoshiteru Tomizuka

Takashi Seno

Daisuke Tsutsumi

Hideyuki Honoki

Mitsuaki Shiba

Masanori Okawa

Kaoru Yamada

Kazuhiro Fukuchi

Takemi Igeta

Hirofumi Sunaoshi

Various gripped objects having different sizes, weights, centers of gravity, and the like are continuously and stably moved at a high speed. A control device includes: a state information generation unit that generates and updates state information on a robot and a gripped object; and a control information generation unit that generates, based on the state information and a base trajectory generated in advance on which the robot is configured to move the gripped object from a start point to an end point, control information for controlling the robot.

Control device, control method, and robot system

The computer is connected to a robot including a hand which grips a workpiece, and a machining device including a gripping mechanism which grips the workpiece, acquires first operation information regarding an operation state of the robot and second operation information regarding an operation state of the machining device; and controls the robot to cause the robot to grip the workpiece and install the workpiece in the gripping mechanism In the control of the robot, the computer determines whether or not to start correction processing of correcting a position and an orientation of the workpiece with respect to the gripping mechanism based on the second operation information, executes the correction processing using the first operation information and the second operation information, and determines whether or not to end the correction processing based on the second operation information.

Method for controlling robot and system

A robot that performs work including gripping an object and moving the object is controlled with high accuracy. A computer for controlling the robot that performs the work including gripping the object and moving the object stores trajectory information, acquires operating state information including a value indicating an operating state of the robot during the work and work state information including a value for grasping a state of the object gripped by the robot, generates estimated work state information including a value for grasping a future state of the object gripped by the robot based on the trajectory information, the operating state information, and the work state information, and generates control information for controlling the robot based on the trajectory information, the operating state information, the work state information, and the estimated work state information.

Computer, method for controlling robot, and computer system

A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point, a second search process for searching for a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point, a determination process for determining second trajectory information indicating positions and postures of movement destinations of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and an output process.

Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program

A trajectory generation device which generates a trajectory of a robot includes: a trajectory exploration graph generation unit which is configured to generate a trajectory exploration graph composed of a plurality of nodes for generating the trajectory; an acceleration upper limit value acquisition unit which is configured to acquire a first acceleration upper limit value based on orientations and an acceleration direction of the robot at a current node; a velocity and acceleration setting unit which is configured to set a first velocity representing a velocity when moving from the current node to a next node adjacent to the current node based on the acquired first acceleration upper limit value, and an acceleration; and a node cost calculation unit which is configured to calculate a moving time by using the set first velocity and the acceleration as cost from the current node to the next node.

Trajectory generation device, trajectory generation method, and robot system

A trajectory generation device generates a trajectory of a robot for conveying an object. A path condition acquisition unit acquires path condition information including at least coordinates of a first via point which is a position of a reference point of a suction nozzle of the robot when the suction nozzle comes into contact with the object, and a velocity, an acceleration, and a jerk of the suction nozzle at the first via point. A pressurization distance and coordinate calculation unit calculates coordinates of a second via point which is a position of the reference point when the suction nozzle is pushed into the object, based on the path condition information; and a trajectory generation unit generates the trajectory of the suction nozzle which satisfies the path condition information and reaches an end point from a predetermined start point via the first via point and the second via point.

Trajectory generation device, trajectory generation method, program, and robot system

A robot controlling device inputs an operation state of a worker from a sensor. The robot controlling device calculates a position vector and a velocity vector of each of the robot and the worker from the operation state of the robot and the operation state of the worker, generates a risk determination area (an area where the robot is stopped, an area where the robot is evacuated, and an area where the robot is decelerated) around each of the robot and the worker, determines a risk based on overlapping between the generated risk determination area of the robot and the generated risk determination area of the worker, generates a collision avoidance trajectory in which collision between the robot and the worker is avoided from a result of the determination, and controls the robot based on the generated collision avoidance trajectory.

Robot controlling device and automatic assembling system

A trajectory planning apparatus including a joint axis classification unit for classifying a plurality of joint axes of a robot into axis groups, according to joint axis classification information for classifying into the axis groups including at least a path search axis group, a path search unit for searching for a path of an angle of the joint axis classified into the path search axis group that minimizes an evaluation function for evaluating a planed trajectory, based on trajectory start point information representing a posture of the robot at a start point of the planed trajectory and trajectory endpoint information representing a posture of the robot at an end point of the planned trajectory, and an axis group angle calculation unit for calculating an angle of the joint axis classified into each axis group other than the path search axis group during the search of the path.

Trajectory planning apparatus, trajectory planning method, and production system

The present invention is directed to connection technology for providing a sufficient connection strength in bonding a wire material and a twisted wire each having a large diameter when directly bonding the wire material, which is used for a stator of an electric motor and a generator, and the twisted wire serving as a lead wire by ultrasonic bonding. A twisted wire having a plurality of core wires is hardened by ultrasonic vibration using a pressurized vibration tool when the twisted wire is connected to a wire material. After that, the twisted wire is reversed such that the hardened surface thereof faces the wire material and then comes into contact with the wire material. In this state, ultrasonic waves are applied to the hardened surface from the opposite side using the vibration tool, thereby connecting the hardened surface of the twisted wire and the wire material.

Method for connecting wire material and twisted wire, and stator of electric motor or generator

A fixing force measuring apparatus including a section for applying a predetermined controlled hammering force to a wedge surface to generate a hammering sound, a section for controlling the hammering sound generated, a section for obtaining plural kinds of feature quantities such as a feature quantity due to a hammering sound energy, and a feature quantity due to a frequency of the hammering sound from the hammering sound collected by an arithmetic operation, and a section for obtaining a fixing force corresponding to the plural kinds of feature quantities by using a correlative relationship between the wedge fixing force previously obtained, and the plural kinds of feature quantities.

Apparatus and method for measuring fixing force

According to a method by a frequency analysis of tap tones at the time when a tightness of a ripple member fixed by an elastic force has been tapped by a hammer or a method of detecting a response at the time when the ripple member has been vibrated, an enough precision cannot be obtained for a tightness estimation. A tapping force is applied to a plurality of positions on the member surface, thereby allowing a plurality of tap tones to be generated. Feature amounts are obtained from the plurality of tap tones. An average feature amount is obtained by averaging the feature amounts. The tightness of the ripple member is estimated from the average feature amount by using a correlation between the tightness of the ripple member and the average feature amount.

Tightness measuring apparatus and measuring method

An object of the present invention is to provide a method for repairing a display device according to which a wide variety of regions can be repaired in various ways using various materials, as well as an apparatus for the same. The present invention provides a repairing apparatus for repairing a pattern defect on a surface of a substrate in a display device where an electronic circuit pattern having the above described pattern defect is formed, characterized by having a plasma irradiation means for repairing the above described pattern defect through local irradiation of a region including the above described pattern defect with plasma.

Method for repairing display device and apparatus for same

Provided is a defect correcting device for an electronic circuit pattern, which is capable of making a defect seed obvious, and normalizing a pixel or forming a pixel into a semi-black spot. A defect correcting device for an electronic circuit pattern includes: an imaging unit for irradiating a defective portion of the electronic circuit pattern with irradiation light having a wavelength of a visible light region and a wavelength of an infrared light region, and receiving reflected light having the wavelength of the visible light region and the wavelength of the infrared light region from the electronic circuit pattern; a signal processing unit for extracting the defective portion from a picked-up image, and determining a correcting method; a laser irradiating unit for irradiating the defective portion with laser light; and a correction determining unit for determining success or failure of defect correction before and after laser irradiation.

Defect correcting method and defect correcting device for an electronic circuit pattern

The pattern defect repairing apparatus comprises an application head, a waste ejection board, a waste ejection vessel, a waste ejection board moving stage, a head lifting stage, and an application unit base. The application head comprises an ink-jet head and a head holder. An ink jet head has an ejection nozzle, and is attached to the head holder and able to be moved up and down by the head lifting stage. The waste ejection vessel is provided to the waste ejection board and able to be moved between a waste ejection position and a retreated position by the waste ejection board moving stage. Repairing material is ejected for waste onto the waste ejection board set in the vicinity of the nozzle immediately before application to repair the defect. The tip end of the nozzle is prevented from being dried.

Method for repairing pattern defect on electronic circuit and apparatus therefor

A method for manufacturing an electronic circuit board which contains an electronic circuit on a main surface of a glass substrate according to the invention sequentially performs a step of electrically inspecting the main surface of the glass substrate on which the electronic circuit is formed, a step of specifying positions and defect types of defects on the main surface of the glass substrate, a step of calculating reference point coordinates on the main surface of the glass substrate and correcting the coordinates, a step of extracting respective defects from an image around the defects and specifying a defect to be corrected in the extracted defects by referring to a defect existing range registered in advance for each defect type, and a step of cutting the specified defect. By this method, a foreign material adhering to the glass substrate is not erroneously judged as short-circuit defect causing short-circuit on the electronic circuit, and only defect actually requiring correction can be removed.

Growing community of inventors

Kawasaki, Japan

Nobuaki Nakasu