Kawasaki Jukogyo Kabushiki Kaisha

Other

Chubu Electric Power Company, Inc.

Kawasaki Jukogyo Kaisha

Takamasa Ogata

Tetsuya Kubota

Hideyuki Hirasawa

Hideki Tanaka

Hiroyuki Matsumura

Katsumi Nakashima

Kenji Tsubaki

Kouyu Itoga

Osamu Miki

Toshihisa Doi

Katsuhiro Onda

Takaaki Okumura

Mutsumi Takagi

Hidenori Tanaka

Yuji Sugita

Harutaka Koike

Hiroo Owaki

Sumihiro Ueda

Takaya Misumi

Masato Uchiyama

Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.

Method of controlling seven-axis articulated robot, control program, and robot control device

A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.

Control system and teaching method for seven-axis articulated robot

To present an automatic cell cultivation apparatus capable of sterilizing completely including a cold storage unit and a normal temperature storage unit, without causing cross contamination, in used of cell cultivation of plural subjects. An automatic cell cultivation apparatus comprising an operation unitfor operating to cultivate cells of subjects, incubator unitsfor cultivating the cells, a cold storage unitfor storing reagents necessary for cultivation, a normal temperature storage unitfor storing culture tools, an inlet-outlet unitfor taking in and out reagents and culture tools, and a steam supply unitfor autoclave sterilization, in which the incubator units, the cold storage unit, the normal temperature storage unit, and the inlet-outlet unitcommunicate with the operation unit, and have sealing doorstoleading to the operation unit, filtersandfor cleaning and sterilizing the air stream supplied in the operation unitare provided, and sealing doorsandare provided between the filter units and the operation unit. By selecting the sealing doorstoand opening and closing, sterilizing steam from the steam supply unitis supplied into any of the sterilization required units, operation unit, and the incubator units, the cold storage unit, the normal temperature storage unit, and the inlet-outlet unit, communicating with the operation unit

Automatic cell cultivation apparatus utilizing autoclave sterilization and method for using the same

Ultrasonic defect testing method and apparatus

To improve the detection precision and detection efficiency and further to automatize the detection process, moisture in a honeycomb panel is detected as follows: the honeycomb panel is heated by a lamp; the surface temperature of the heated construction is measured by an infrared radiation thermometer; the measured temperature is displayed to roughly discriminate an abnormal portion (i.e., a portion containing moisture); the honeycomb panel is further heated continuously to detect temperature-change-rates at both abnormal and normal portions (i.e., a portion not containing moisture); and the two temperature-change-rates are compared with each other to discriminate a presence of moisture.

Method for detecting moisture in a honeycomb panel

Growing community of inventors

Kobe, Japan

Takamasa Ogata