Canon Kabushiki Kaisha

Mixed Reality Systems Laboratory Inc.

Tsutomu Osaka

Takahiro Ishikawa

Shunsuke Kawamura

Hiroyasu Nose

Kazutaka Inoguchi

Hideki Morishima

Toshiyuki Sudo

Hiromitsu Hirabayashi

Makoto Torigoe

Miyuki Fujita

Naosato Taniguchi

Akinari Takagi

Hidetoshi Tsubaki

Hiroshi Nishihara

Tomoshi Takigawa

Hiroshi Kawachi

Toshiya Takahashi

Kazunori Ogami

Yohei Kawaguchi

A control apparatus includes a control unit that controls a first motor and a second motor. The control unit controls a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance and controls, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.

Control apparatus and method, and motor control system

A robot includes a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process. In the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction. In the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction.

Separate moving and positioning modes for a robot, method providing separate moving and positioning modes for the robot, method of manufacturing a product, and a recording medium

A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

Robot apparatus, robot controlling method, program and recording medium

Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component

The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.

Robot apparatus, and measuring method of rotation driving apparatus

Robot apparatus, robot controlling method, programming and recording medium

Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.

Control method for robot apparatus, computer readable recording medium, and robot apparatus

A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.

Robot apparatus and speed reducer state diagnosing method

A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.

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

A 3D image display apparatus is disclosed which includes a ray modulator which emits a directive ray in a time series manner based on parallax image information, a scanner which deflects the ray from the ray modulator and scans a predetermined plane two-dimensionally with the deflected ray, a light emitting point distributor which is arranged on a light emission side of the scanner to form a plurality of light emitting points, and a light emitting point multiplexer which is arranged on the light emission side of the light emitting point distributor to form a plurality of secondary light emitting points with rays from individual ones of the light emitting points, to enable stereopsis with a super multi-view region at a high resolution.

3D model display apparatus with array modulator

An optical fringe generation member control apparatus is provided. The control apparatus includes a detection unit that is configured to detect an optical fringe. Further, the control apparatus includes a control unit that is configured to control operation of a member on which the optical fringe is generated. The control unit controls the operation based on a detection result by the detection unit.

Apparatus for controlling optical fringe generation member based on detected optical fringe and method therefor

A tracking image pickup device which makes it possible to perform high-speed and high-accuracy drive and tilting drive without sacrificing the rigidity of the device. An image pickup section has a predetermined optical system and acquires an image pickup signal through the optical system. A tracking target-detecting section detects a tracking target from the image pickup signal acquired by the image pickup section. A drive section has a fine movement part formed by a part of the optical system, and a rough movement part, so as to turn the tracking image pickup device in a panning or tilting direction. A control command value-computing section drivingly controls the drive section such that an amount of deviation between the tracking target and an image pickup direction of the tracking image pickup device is reduced. An image pickup direction-computing section determines the image pickup direction of the tracking image pickup device.

Tracking image pickup device having a rough rotation and a fine rotation part

An image observation apparatus is constructed to project image information displayed on an image display device for displaying the image information, onto a retina of an observing eye by a display optical system, thereby permitting an observer to observe the image information, and to perform control to change a position of an incident beam onto the entrance pupil plane of the observing eye. The apparatus is arranged to detect the position of the observer's pupil and change the position of the incident beam onto the entrance pupil plane of the observing eye, based on the result of the detection.

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Yokohama, Japan

Tsutomu Osaka