Seiko Instruments Inc

Norio Yokoshima

Akira Shimada

Masahide Nagai

A servo control system effects control of a control object directly from an arbitrary stop position to a target position smoothly and safely. The servo control system has a detector for detecting an absolute position of the control object, and an observer for observing state values such as the position and/or velocity of the control object and a disturbance applied to the control object so as to servo-control the control object. The servo control system calculates initial state values of the observer determined according to the stop or rest position of the control object at the start of the operation so that the initial values are utilized for calculation of the state values by the observer. The observer calculates the state values and estimated values according to an algorithm at one sample preceding period, thereby enabling computation suitable to digital processing by the sampling mode operation.

Servo control system

A damper device for a precision assembling robot is capable of dampening the residual vibrations of the robot arm resulting from a lack of rigidity of the arm. The damper device is fixed to the tip of the robot arm to absorb the vibration energy of the swinging robot arm. The damper device includes a cylindrical weight member and a columnar rubber member. The damper device further includes a metallic rod inserted in the columnar rubber member. The length and position of the inserted metallic rod controls the dampening factor of the damper device. Therefore, the precision assembling robot with the damper device is capable of preventing a failure of assembly due to positioning errors resulting from residual vibrations, or nonconformities due to the impact of the robot arm against an object.

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Tokyo, Japan

Norio Yokoshima