Canon Kabushiki Kaisha

Takayuki Ogawara

Akira Yajima

Hidetada Asano

Toru Nagata

Akihiro Kimura

Masaru Ogata

Nobuhiro Ito

Masahiro Tagawa

Shuuichi Sato

Haruhiko Horiguchi

Tomonori Nakazawa

Shoji Sasaki

Yoshiharu Irei

Yoshiyuki Beniya

Haruyasu Ishikawa

Kazunori Ogami

Yu Takahashi

Kohei Oyu

Satoshi Mashiko

A sensor includes a structure and a detector. The detector is arranged to detect a deformation of the structure. The structure has at least four elastic sections. The at least four elastic sections are discretely disposed in an imaginary plane.

Sensor, device, system, and manufacturing method for product

A robot apparatus includes a robot arm having an end effector. The robot apparatus includes a position detection unit configured to detect a position of the end effector, and a control unit configured to control the robot apparatus, wherein the control unit includes a force control unit configured to control the end effector by force control, and information about a plurality of operation ranges in which the end effector operates by the force control, the plurality of operation ranges being set for the plurality of contact works, wherein the control unit controls the end effector using the position detection unit and the force control unit such that one of the plurality of contact works is performed within one of the plurality of operation ranges corresponding to the one of the plurality of contact works.

Robot apparatus, control method for the robot apparatus, assembly method using the robot apparatus, and recording medium

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Driving mechanism, robot apparatus measurement method, robot apparatus control method and component manufacturing method

A robot apparatus which does assembly by tilting a workpiece which is to be a fitting component, and bringing a part of a surface of the workpiece which is the fitting component and a part of a surface of a workpiece which is to be a fitted component, into contact with each other a plurality of times, when inserting the workpiece which is the fitting component into the workpiece which is the fitted component.

Robot apparatus, control method for robot apparatus, article manufacturing method using robot apparatus, and storage medium

A robot arm includes a plurality of links and rotary joints for connecting the links with each other. A cable (wire rod) for communicating a drive signal to a drive actuator of each rotary joint is provided along each link. A reaction force table storing a reaction force value generated by the wire rod when the joint is driven in a divided storage area divided for each dynamic drive control condition is provided in a control system. In a case where each rotary joint is driven, the control device controls each rotary joint on the basis of a reaction force value obtained by referring to the reaction force table in accordance with the drive control condition.

Robot apparatus, control method of robot apparatus, and recording medium

A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.

Robot system controlling method, program, recording medium, robot system, and diagnosis apparatus

A robot apparatus determines a reactive force of a wire member by a sensor, used for the transmission of a driving signal between the robot apparatus and a joint (or end effector). The robot apparatus includes: a plurality of links which constitute a robot arm; rotational joints which connect each of the links to each other; a motor which drives each of the rotational joints; and a cable as a wire member, which is arranged along each link and transmits a driving signal at least to a driving source. A controlling apparatus drives and controls the motor which drives the rotational joints, based on a value of a reactive force, which a cable reactive force measuring unit outputs, which measures the reactive force to be applied to a joint portion when the cable is deformed.

Robot apparatus and method for controlling robot apparatus

A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unitcontrols a robotand a camerato perform a photographing step for each of pivotal jointsandto acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot, respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camerato photograph a markduring a process of causing the robotto rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot, based on the photographed data acquired by trajectory acquiring control.

Controlling method of robot system, program, recording medium, and robot system

A robot, includes: a robot arm including: a first frame; and a second frame coupled to the first frame to be turnable about a joint axis; a cable arranged along a side surface of the first frame and a side surface of the second frame; a first fixing member for fixing the cable to the side surface of the first frame; a second fixing member for fixing the cable to the side surface of the second frame; a holding member for holding a part of the cable between the first fixing member and the second fixing member; and a support mechanism for regulating movement of the holding member in an axis direction of the joint axis, the support mechanism supporting the holding member so that the holding member is movable in a direction orthogonal to the axis direction of the joint axis to follow a bending movement of the cable.

Robot

A method of manufacturing a hermetically sealed container including a pair of substrates disposed in opposition to each other, a frame member disposed between the pair of substrates, and a bonding member bonding the substrate to the frame member, includes a bonding step of heating the bonding member for bonding the substrate to the frame member. The bonding step includes a measuring process for measuring a height of the bonding member in a direction perpendicular to the substrate, and a heating and pressing process for partially pressing the substrate to the bonding member while partially heating the bonding member. The heating and pressing process is conducted by scanning, along the bonding member, an area of the bonding member partially heated and an area of the substrate partially pressed. During the heating and pressing process, the pressure exerted on the substrate is controlled based on the measured height of the bonding member measured such that a constant pressure is exerted between the substrate and the bonding member.

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Yokohama, Japan

Takayuki Ogawara