Kabushiki Kaisha Kobe Seiko Sho

Shoji Nasu

Yasuhide Nagahama

Tsudoi Murakami

Yoshiro Nishimoto

Goro Tuda

Teruyoshi Sekino

Hironosuke Kada

Masayoshi Iwasaki

Hirokazu Murayama

Yoshiaki Munezane

Osamu Mizuguchi

Kazuaki Tatsumi

Hiroaki Yasukuni

A signal processing method in an electromagnetic induction test. A test object is subjected to an electromagnetic induction by use of N (N.gtoreq.1) kinds of test frequencies to obtain M (M.ltoreq.2N) kinds of phase detection outputs corresponding to respective states of the test object. The phase detection outputs are then sampled at a plurality of measuring points so that there exists n (n&lt;M) kinds of disturbance factors of which a portion contribute to the electromagnetic induction test. The phase detection outputs have a variance greater than a variance of a target parameter of the test object and contribute to the electromagnetic induction test. A first coordinate axis Z, is determined in a direction in which a variance of a distribution of the group of the measuring points comes to be a maximum in an M-dimensional space formed with the coordinate axes associated with the M kinds of the phase detection outputs. The remaining coordinate axes are likewise determined. Based on the coordinate of each of the measuring points viewed from the coordinate axis Z.sub.n+1, a measuring is effected to determine a presence or an absence of a defect, a physical quantity, and a geometric quantity on a surface of the test object.

Signal processing method for an electromagnetic induction test

A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.

Control system for direct teaching/playback type robots

A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line. According to another aspect of the present invention, therefor provided is a method for controlling the locus of operation in the second and succeeding layers in a multi-layer welding operation by a teach/playback type robot including an arithmetic control mechanism the method being characterized by teaching an arcuate locus of operation of the first layer; utilizing as a parameter a shift width corresponding to the arcuate bead to be formed in the second and succeeding layers through an external input member; determining the direction of shift of the second and succeeding layers by calculating the inner product of the directional vector of a welding torch according to the teaching data of the first layer and a directional vector from a point on the arcuate locus of operation to the center of the arc; and calculating the locus of operation of the second or a succeeding layer from the shift direction and width by the arithmetic control mechanism.

Method of multi-layer welding

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Kobe, Japan

Shoji Nasu