Hitachi, Ltd.

Hitachi Keiyo Engineering Co., Ltd.

Norihisa Miyake

Masaki Sumita

Masahiro Koyama

Tomoyuki Hamada

Koichi Sugimoto

Kohji Kamejima

Yasuhiro Hashimoto

Tsuyoshi Kai

Ikuo Takeuchi

Yasuyuki Momoi

Akira Tsuchihashi

Shinichi Sarugaku

Hiroshi Sakairi

Kenjiro Fujii

Tsutomu Fujimoto

Shizuko Hattori

Osamu Fujiwara

Ichirou Takahashi

Akira Tsuchihasi

Yutaka Maruyama

In a decentralized control system, a program of the system is described in one form to flexibly cope with changes of the system, and the program developing efficiency, processing performance, and reliability of the system are increased. In configuration, a plurality of control processors and a plurality of devices are connected to a network, the control processors connected to the network are automatically detected and there is determined program execution assignment to possibly equalize the processing load imposed on the control processors. Each control processor executes the program in accordance with the program execution assignment.

Decentralized control system for network connection

A computer-implemented control method and a control apparatus of factory automation system having a cell formed by a plurality of working machines including at least one automated machine to execute a series of works in accordance with a control program. From a cell control program including specifications of working of entire cell that is input to the computer, information relating to working sequence of a plurality of working machines and information about control of inputs and outputs of a plurality of working machines are described, the specifications and informations are extracted by the computer. On the basis of the extracted information, a sequence control program by which control of the working sequence of a plurality of working machines and control of inputs and outputs of a plurality of working machines is generated by the computer are described. From the cell control program, information about operation control of the automated machine and information about synchronization of operation of the working machines are extracted by the computer. On the basis of the extracted information, an automated machine control program, by which processing for exercising control over positioning and operation trajectory of the automated machine are described, is generated by the computer. And working of the cell is controlled in accordance with the sequence control program and the automated machine control program.

Control method and control apparatus of factory automation system

A data transfer apparatus, in which when significant length data having a data length longer than the capacity of a communication bus is inputted/outputted through the communication bus into/from a data storage means, a part or the whole of the data transferred through the communiction bus is temporarily stored in a transfer processor so as to combine the data to be in the form of the significant length data so that the significant length data formed by the transfer processor supplied to the data storage means.

Data transfer method, data transfer apparatus and information processing

A method of controlling the movements of a robot having a plurality of degrees of freedom includes expressing the attitudes of a hand or a working tool fitted to the arm end of the robot, the by the use of base vectors of a rectangular coordinate system fixed to the hand or the working tool. The attitudes are given as coordinate components related to a rectangular coordinate system which is fixed to the pedestal of the robot and which serves as reference. Interpolation and movement control of the robot is performed on the basis of the coordinate components. By performing control, based on the coordinate components real-time calculation processings is reduced highly accurate robot movement which is smooth in terms of both time and space is accomplished.

Method of controlling robot movements

A method and apparatus for controlling the tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element. The method and apparatus allot individual coordinate systems each having a discriminator to the working element, the working object and the moving elements to provide coordinate systems with the corresponding discriminators, set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system selected from the coordinate systems, describe, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.

Method and apparatus for controlling tracking path of working point of

There is provided an operation control method for an industrial robot having a plurality of joints, cooperation of these joints allowing a hand or an end effector attached to the hand to perform necessary operation comprising the steps of representing a position and orientation of a hand effecting point relatively determined with respect to the hand or the end effector by a generalized coordinate system suitable for describing the task, deriving respective displacement values of the plurality of joints corresponding to the position and orientation information by using means such as computation, and making the hand effecting point perform necessary operation. For at least one joint among the plurality of joints, displacement is approximately derived by using approximate solution. For remaining joint among the plurality of joints satisfying a parameter or parameters to be controlled especially accurately among the position or position and orientation of the hand effecting point, strict solutions are derived by using the approximate solution of the above described at least one joint. the operation of the hand effecting point is thus controlled.

Method for controlling operation of industrial robot

A joint type robot comprises a fixed bed, a swivel base on the fixed bed, a motor base on the swivel base, an upper arm capable of elevating on the motor base, a front arm capable of elevating at the tip of the upper arm, a wrist at the tip of the front arm, and so forth. The upper arm extends rearward beyond the center axis of rotation of its elevating motion. The rearwardly extending portion can enter a notch of the motor base. A driving motor for turning the swivel base is disposed at a position deviated from the center axis of rotation and in parallel with the center axis of rotation. The pair of driving motors for the upper and front arms are mounted on the motor base parallel to each other yet oriented in opposite directions to keep the robot as small as possible. The wrist driving motors are mounted on the upper arm in similar fashion. All the features of the robot are designed to keep the robot as small and as light as possible.

Joint type robot

An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the different positions correspond, respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and a coordinate system assumed on the robot, and the corrected data are reproduced and used as the operation data for the second and the following working positions.

Operation teaching method and apparatus for industrial robot

A wrist mechanism includes a plurality of rigid links connected together by a plurality of joints, wherein each of the joints includes a joint member interconnecting the adjacent links in a manner to enable an angular displacement to be transmitted between the adjacent links, and an angular displacement transmitting section for transmitting the angular displacement between the links in the form of at least two rotational angle components.

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Matsudo, Japan

Norihisa Miyake