Omron Corporation

Yasumoto Mori

Mamoru Egi

Yasutomo Kawanishi

Yasushi Ono

Yasuhiro Ohnishi

Takeshi Kojima

Daisuke Mitsumoto

Maki Endo

Teruyuki Shiraki

Shota Miyaguchi

Shree Kumar Nayar

Yasushi Ohno

Takashi Sakai

Fumiaki Sato

Tuo Zhuang

To Sho

Aimar Arrate

Pere Llibre

Federico Heras

Pere Llibre Tur

Federico Heras Viaga

Aimar Arrate Ugidos

A robot control device, abnormality diagnosis method, and non-transitory computer readable medium are provided. The robot control device () performs abnormality diagnosis of a robot body () including a motor () that rotates, from a starting angle position to a target angle position, a rotational shaft () for transmitting power to an arm () so that the arm performs a predetermined operation. The robot control device includes: a drive control unit () driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a vibration component caused by an abnormality from among the vibration components generated along with the rotation of the rotational shaft; a vibration detection unit () detecting the vibration component; and a diagnosis unit performing abnormality diagnosis based on the detected vibration component.

Robot control device, abnormality diagnosis method, and non-transitory computer readable medium

A deterioration degree of a robot body is precisely evaluated. A robot control deviceincludes: a drive control unitcontrolling operation of a robot body; a detection unitdetecting a signal used for analysis of a feature amount quantitatively indicating a deterioration degree of the robot bodydeteriorated over time as the robot bodyis operated; a determination unitdetermining whether a data section of the signal includes a constant speed section equal to or greater than a given section; a normalization unitnormalizing a signal in a non-constant speed section when the data section of the signal does not include the constant speed section equal to or greater than the given section; an analysis unitanalyzing the feature amount; and an estimation unitestimating a remaining life of the robot bodybased on the feature amount.

Robot control device, maintenance management method, and maintenance management program

A remaining life of a robot body is precisely estimated. A robot control apparatusincludes: a drive control unitthat controls drive of a robot body; a detection unitthat detects a feature amount quantitatively indicating a deterioration degree of the robot bodythat is deteriorated over time as the robot bodyis driven; a determination unitthat determinates presence/absence of a sign of malfunction of the robot bodybased on the feature amount; and an estimation unitthat estimates a remaining life of the robot bodywhen presence of a sign of malfunction of the robot bodyis determined.

Robot control apparatus, maintenance management method, and maintenance management program

The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part () computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part () computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part () executing time response simulation of the mechanical system () according to a second command value and the impulse response.

Simulation device, simulation method, control program and recording medium

The present invention easily displays a frequency response and a time response to a user. The simulation device of the present invention comprises: a frequency response function computing part () computing a frequency response function according to a measured value of a response of a mechanical system (), a time response outputting part () executing time response simulation, a frequency response outputting part () outputting a frequency response characteristic and a display control part () displaying the time response simulation and frequency response characteristic simultaneously or selectively.

A control device for tuning a servo motor is suggested. The control device comprises a calculation unit configured to determine a current proportional speed gain of the servo motor and to calculate a stabilization time ratio based on a current stabilization time of the servo motor and a target stabilization time, a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, to determine a next proportional speed gain using the selected gain determination process starting from the current proportional speed gain, wherein the calculation unit is further configured to update parameters of the servo motor according to the determined next proportional speed gain, and a control unit configured to generate a control signal for controlling the servo motor for driving a load based on the updated parameters.

Control device and method for tuning a servo motor

Control that is less likely to cause an overshoot is performed when an actual inertia value is yet to be determined. A development support apparatus sets a ratio of a position proportional gain to a velocity proportional gain to a value smaller than a ratio set when a servo driver has determined an actual inertia value of a load machine.

Adjustment apparatus, control parameter adjustment method, information processing program, and storage medium

The present invention realizes a motor control apparatus and the like capable of obtaining an appropriate frequency characteristic. The motor control apparatus of the present invention includes a command value generating portion (), a torque saturation detecting portion () for determining whether a driving value based on a command value exceeds a driving value capable of being output from the apparatus, a current saturation detecting portion (), a voltage saturation detecting portion (), and a command value correcting portion () for correcting the command value when the driving value is determined as being exceeded.

Motor control, apparatus, motor control method, control system, information processing program and recording medium

A control device, by which a user causes a servo motor to perform desired operation without being conscious of a maximum torque of the servo motor while easily understanding the transmission characteristic, selects which one of sliding mode control and PID control is adopted to control a servo motor based on at least one of a position deviation and a velocity deviation.

Control device, control method, information processing program, and recording medium

The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus () includes: a motor control part (), generating a driving torque instruction value used to enable the servo motor () to perform driving based on a detection value of an encoder () that performs detection on a rotational state of a servo motor (); and a model control part (), generating a model torque instruction value, and outputting the model torque instruction value to the motor control part (), where the model control part () has a model torque limiter () that limits the model torque instruction value within a first limit range.

Motor control apparatus, motor control method, program, and recording medium

A user can cause a servo motor to perform desired operation without occurrence of overshoot and hunting while being unconscious of a maximum torque that can be output from the servo motor. A control device that implements model following control includes a feedforward controller that implements sliding mode control.

A measurement target is captured using two types of illumination patterns set such that only color features of specular objects change, the two images that are obtained are compared, and objects are identified as being specular objects or diffuse objects depending on whether the color features change markedly. At this time, the emission intensity distribution of each illumination pattern is devised such that specular lobe components that are included in reflected light are canceled out.

Image processing device, method for controlling same, program, and inspection system

A surface state inspection apparatus has a lighting device that irradiates an inspection target placed on a stage with light, an imaging device that images the inspection target, and a detection device that detects a surface defect of the inspection target by analyzing a first inspection image obtained by the imaging device. The lighting device is a surface light source that includes a light emission region having a predetermined size and, in the lighting device, portions of light emitted from positions in the light emission region differ from each other in a spectral distribution. The detection device detects a portion in which a hue is different from that of its surrounding portion in the inspection target surface as a flaw. The detection device detects a portion in which the hue is substantially equal to that of its surrounding portion while brightness is different from that of its surrounding portion as a stain.

Apparatus and method for inspecting surface state

The shape measurement apparatus calculates a characteristic amount for a plurality of points of interest on a surface of a measurement target object, based on an image obtained by image capturing with a camera, calculates an orientation of a normal line based on a value of the characteristic amount by referencing data stored in advance in a storage device, and restores the three-dimensional shape of the surface of the measurement target object based on a result of the calculation. The storage device stores a plurality of data sets generated respectively for a plurality of reference positions arranged in a field of view of the camera, and the data set to be referenced is switched depending on a position of a point of interest.

Shape measurement apparatus and calibration method

A shape measuring apparatus that measures a three-dimensional shape of a measuring target has a lighting device that irradiates the measuring target placed on a stage with light, an imaging device that takes an image of the measuring target, a shape calculating device that calculates orientations of normals at a plurality of points on a surface of the measuring target from an image, the image being obtained by performing imaging with the imaging device while the lighting device irradiates the measuring target with the light, the shape calculating device calculating the three-dimensional shape of the surface of the measuring target from the calculation result of the orientations of the normals, a ranging device that measures a distance from a predetermined reference position with respect to at least one point on the surface of the measuring target, and a determination device that determines a spatial position of the three-dimensional shape of the surface of the measuring target, the three-dimensional shape being obtained by the shape calculating device using information on the distance obtained by the ranging device.

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Joyo, Japan

Yasumoto Mori