Hitachi, Ltd.

Shiyuki Sakaue

Shinichi Arai

Koichi Sugimoto

Youichi Nonaka

Kazuo Suzuki

Eiji Matsuzaki

Fusaji Shoji

Nobuyuki Ushifusa

Yoshio Matsumoto

Seiichi Tsuchida

Hisaaki Hirabayashi

Teruo Takai

Noboru Sugimoto

Michinaga Kohno

Michio Takahashi

Kyoko Amemiya

In order to reduce the address voltage in a gas discharge type display pane, the address electrodes in the display panel are formed on the barrier ribs. Further, a fluorescent layer is coated on the wall surface of the barrier ribs thereby suppressing erroneous light emission or degradation of the fluorescent layer during address discharge.

Gas discharge display panel having address electrodes located on second

A method and apparatus for controlling a robot which performs an operation on an object while applying any desired force to the object, and a method of controlling automobile suspensions so as to maintain the contact between the automobile and a road surface appropriately. A robot controller which controls the motion of an end effector includes a rotating body, using an external force applied to the effector. The controller beforehand measures the tensor of inertia of the rotating body, calculates the angular momentum of the rotating body on the basis of a sensed value output from a unit for sensing the rotational speed of the rotating body and the tensor of inertia of the rotating body, calculates a gyro-moment occurring in the rotating body on the basis of a sensed value output from a sensor for sensing the motion of the robot and the angular momentum of the rotating body, and uses as a control input value the external force from a sensor for sensing value minus the value of the gyro-moment. An automobile suspension is controlled by an external force applied to a wheel of the automobile, using as a control input value a sensed value output from a sensor for sensing the external force minus the value of a gyro-moment occurring in the wheel.

Gyro-moment compensation control method and apparatus

A control system in which an end effector of a robot is mechanically compliant for a particular object. The robot has multiple degrees of freedom and movement and includes a sensor which senses a velocity nd a sensor which senses an external force. A virtual compliance control method is applied to the robot. Influence of the weight and gyro moment of the end effector is subtracted from a value obtained from a mechanism which senses the external force to set a term of the external force in a mathematic model of the control system constructed during control. By such arrangement, when a rotational body having a mechanically large rotational momentum is set as the end effector of the robot, the control system is mechanically compliant with the object.

Method of controlling robot's compliance

Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.

Method and apparatus for controlling a robot utilizing force, position,

A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

Method and apparatus for controlling a robot hand along a predetermined

An articulated industrial robot comprising a supporting post mounted on a base; a forearm provided at its end with a wrist having at least one degree of freedom; a pair of upper arms pivotally connected at their one ends to the supporting post and at their other ends to the forearm, the upper arms being disposed in parallel with each other at both sides of the supporting post and the forearm; an upper arm rotary driving source mounted in the supporting post; an upper arm connecting mechanism for connecting the output of the upper arm rotary driving source to the upper arm through a reduction gear; a forearm rotary driving source mounted on one of the upper arms; a forearm connecting mechanism for connecting the output of the forearm rotary driving source to the forearm through a reduction gear; a wrist posture controlling rotary driving source provided on the other upper arm or on the supporting post; and a wrist posture controlling connecting mechanism for connecting the output of the wrist posture controlling rotary driving source to the wrist through the other upper arm and through the forearm through a reduction gear.

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Hiratsuka, Japan

Shiyuki Sakaue