Kawasaki Jukogyo Kabushiki Kaisha

Chubu Electric Power Company, Inc.

Osamu Miki

Hideyuki Hirasawa

Takamasa Ogata

Osamu Noro

Kouyu Itoga

Kanji Matsushima

Katsuhiro Onda

Takaaki Okumura

Yuji Sugita

Kiyoshi Ioi

Harutaka Koike

Hiroo Owaki

Takashi Katsuragawa

Sumihiro Ueda

Takaya Misumi

Kanzi Mitsuhashi

Ultrasonic defect testing method and apparatus

The present invention discloses a control device containing a device detecting a velocity or an acceleration parameter of the main robot body. The velocity or acceleration parameters are expressed in a robot coordinate system and is detected from the detection device. The output from the detection device is even added to a desired value that is expressed in an absolute coordinate system that is in an inertial reference frame for an arm of the robot. In this way, the robot arm can be made to follow any desired path, by using desired positions in the absolute coordinate system that is an inertial coordinate system.

Control device for robot in inertial coordinate system

In a computer controlled robot system which operates to perform a sequence of steps in accordance with a program stored in the computer, the program can be altered simply and conveniently by setting certain switch registers on an operation desk and indication box. The system can be operated to change the program by an operator having no knowledge of computer programming.

Programmed manipulator

Growing community of inventors

Akashi, Japan

Osamu Miki