Seiko Epson Corporation

Nobuhiro Karito

Masaki Hayashi

Hiroshi Hasegawa

Kaoru Takeuchi

Makoto Kobayashi

Mitsuhiro Inazumi

Hiroshi Miyazawa

Seiji Aiso

Yasuhiro Shimodaira

Yukihiro Yamaguchi

Isamu Sejimo

Kiyoaki Murai

Kaori Sato

A robot control system includes a robot having a servo control unit, a lower-level control apparatus transmitting a control command to the servo control unit and receiving robot status information representing a status of the robot from the servo control unit with respect to each preset control period, and an upper-level control apparatus transmitting command information for creation of the control command to the lower-level control apparatus. The lower-level control apparatus transmits the robot status information to the upper-level control apparatus in synchronization with the control period. The upper-level control apparatus transmits the command information to the lower-level control apparatus within a predetermined transmission time shorter than the control period from a time when receiving the robot status information from the lower-level control apparatus.

Robot control system, lower-level control apparatus, and control method for robot

A control method for a robot includes a first working step of executing first work on a first working object by operating a robot arm by force control based on a predetermined position command value, a first memory step of storing first position information of a trajectory in which a control point set for the robot arm passes at the first working step, and a second working step of updating a position command value for the robot arm based on the first position information stored at the first memory step, and executing second work on a second working object by operating the robot arm by the force control based on an updated value as the updated position command value.

Control method for robot and robot system

A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.

Robot system, robot, and control method

A control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during the execution of a first control including a force control.

Control device, robot system, and robot

An image acquisition unit acquires an image including an object, and a controller starts a visual servo using the acquired image, on the basis of at least one of an error in calibration, an error in installation of a robot, an error resulting from the rigidity of the robot, an error of a position where the robot has gripped the object, an error regarding imaging, and an error regarding a work environment. Additionally, the controller starts the visual servo when the distance between one point of a working unit of the robot and the object is equal to or greater than 2 mm.

Robot control device, robot system, and robot

A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

Robot controller, robot system, robot, robot control method, and program

A image generation device generates, on a print medium, an image including a first image portion and a second image portion. The device has a first screen processing unit which generates image data by an area modulation screen having a first screen ruling, for pixels of the first image portion; and a second screen processing unit which generates image data by an area modulation screen or a density modulation screen having a second screen ruling which is higher than the first screen ruling for pixels of the second image portion. And the first screen processing unit generates a halftone dot at a center of gravity position of an image of the first image portion in a cell corresponding to a halftone dot formation area in the area modulation screen processing.

Tint block image generation program and tint block image generation device

Provided is a printing apparatus that prints an image of a first colorimetric system that is constructed with a plurality of pixels by using dots having a plurality of sizes, including: a print head that ejects a printing material to form the dots on a printing medium; a color conversion unit that converts the image in the first colorimetric system to an intermediate image in a second colorimetric system that can be printed by the printing apparatus; a detection unit that detects edge pixels, which constitute an edge of the intermediate image, among a plurality of pixels constituting the intermediate image; a dot allocation unit that allocates dots having a predetermined size among the dots having the plurality of sizes to the edge pixels; and a printing unit that controls the print head based on printing data indicating the dot allocation to form the image on the printing medium.

Apparatus, method, and storage medium for improving print quality of an image

A printing apparatus includes a print head that has a plurality of nozzles including lower-end portion nozzles, center-portion nozzles, and upper-end portion nozzles, a medium transport unit that transports a medium that becomes a printing target, an edge detecting unit that detects an edge included in image data, and a print control unit that forms a pixel pattern on the medium by driving the print head together with relatively moving the print head and the medium that becomes the printing target, forms an overlapping pixel pattern on the medium by using nozzles, the number of which is a first number in a case where the edge is not detected by the edge detecting unit for the overlapping pixel pattern that can be formed by the upper-end portion nozzle and the lower-portion nozzle, and forms the overlapping pixel pattern on the medium by using nozzles, the number of which is a second number smaller than the first number in a case where the edge is detected by the edge detecting unit.

Printing apparatus and printing method

A printing apparatus includes a line head which includes first and second basic heads each having a plurality of nozzles in a predetermined direction and in which the first and second basic heads are arranged in the predetermined direction so as to form an overlapping section in the predetermined direction and a controller which controls the first and second basic heads when at least one of a print medium and the line head moves in a direction intersecting the predetermined direction and which controls the first and second basic heads so as to print the contour of a character or a line image by using only one of the first and second basic heads when the character or the line image is contained in an image printable by the overlapping section.

Printing apparatus, printing method, and program

A projector projecting an image includes: an imaging unit taking an information transmission image which is part of a projected image of the other projector and includes drive condition information of the other projector; and a control unit changing drive conditions of the projector based on the drive condition information included in the information transmission image.

Projector, projection system, and method for controlling projection system

An image printing system which determines dot forming condition when printing an image containing a plurality of pixels by using dots of a plurality of sizes includes: a fine drawing detecting unit which detects a dot color fine drawing pixel having a dot color used for printing the image and positioned on a fine drawing portion having a drawing width equal to or smaller than a predetermined value; an edge area detecting unit which detects a dot color edge area pixel having a dot color used for printing the image and positioned at a distance equal to or shorter than a predetermined value from an edge of the image; a first dot allocating unit which allocates dots such that a dot of predetermined size in the dots of the plural sizes can be formed for the dot color fine drawing pixel during printing the image; and a second dot allocating unit which allocates dots such that a dot of a size determined according to the distance from the edge of the image in the dots of the plural sizes can be formed for the dot color edge area pixel not corresponding to the dot color fine drawing pixel during printing the image.

Image printing system, method, and computer-readable medium for determining dot formation for edge and fine drawing color pixel based on the result of edge and fine drawing detection

An image processor for converts input grayscale values into output grayscale values having two or more grayscales by dividing an input image into pixel groups each including pixels and applying a dither matrix to each pixel group a center of gravity position of the pixel group from the input grayscale value of each pixel included in the pixel group; the center of the dither matrix on the center of gravity position of the pixel group; and output the output grayscale values by corresponding the positioned dither matrix and the input grayscale value of each pixel included in the pixel group. By this, the center of the dither matrix is positioned on the center of gravity position of the pixel group. So dots are generated at the most appropriate positions to reproduce an input image faithfully.

Image processor, image processing method and image processing program

An image processing apparatus comprises a pixel group reference point determination unitthat divides the input image data into predetermined pixel groups and determines a position of a reference point from the grayscale values of respective pixels contained in the pixel groups; a pixel group expansion processing unitthat takes grayscale values of the part that is less than a threshold value from unprocessed pixels in the periphery of the pixel group to the pixel group if the sum total of the grayscale values of the respective pixels contained in the pixel group is less than the threshold value; and a quantization data supply unitthat supplies the quantization data to a pixel on the basis of the position of the reference point determined by the pixel group reference point determination unit

Image processing apparatus, image processing method, image processing program and recording medium for recording program

When the image data having a predetermined gradation value for each pixel is input, and the image data is searched from the initial pixel and the total of the gradation values of the pixels, including the searched pixels, becomes a predetermined threshold value or more, a dot is generated at the center of the gravity position as a quantized pixel group. In the searching, an unprocessed pixel closest to the center of gravity position, including this pixel, is selected. If there are a plurality of unprocessed pixels, selection is performed at random. For the pixel selection, a pixel closest to the center position computed from the positional coordinates may be selected, rather than the center of gravity. Also a dot may be generated at the center position of the quantized pixel group.

Growing community of inventors

Kiso, Japan

Nobuhiro Karito