Canon Kabushiki Kaisha

Omron Corporation

Waseda University

Tokyo Robotics Inc.

Yoshihiro Sakamoto

Kaichi Tsuchiya

Seiji Tomari

Hiroshi Yamakami

Shigeki Sugano

Shinichiro Nagashima

Xiaoguang Ning

Tomohiro Wada

Alexander Schmitz

Wei Wang

Tatsuo Miyamae

Soumya Bhavaraju

Gonzaro Aguirre Dominguez

Hisashi Kurachi

Ritsuki Sato

Yuki Matsuo

In the present invention, contact between an operator and a robot that moves a workpiece is avoided, and an effect on an article is reduced. This robot controller (), which controls the operation speed of a robot () that moves a workpiece (), comprises: a prediction unit () that predicts contact from the position of a robot and the position of a person or object; and an acceleration change unit () that, when contact is predicted by the prediction unit, changes the acceleration at which the speed of the robot is reduced to perform an emergency stop in accordance with the presence of the workpiece.

Control device and control method

A joint unit that is reduced in size including a plurality of angle detection mechanisms. A joint unit including an input-side support member for a rotationally driven input shaft, a decelerator that decelerates the input shaft to provide a deceleration output shaft, an output rotating body coupled to the deceleration output shaft including a strain generating portion that generates strain due to rotation transmitted by the deceleration output shaft, and an associated rotating body that is coupled to a output-side portion of the strain generating portion of the output rotating body to rotate together with the output rotating body disposed in a space between the input-side support member and an input-side portion of the strain generating portion of the output rotating body.

Joint unit, robot arm and robot

A control system () according to the present invention includes a robot arm () provided in a manner capable of moving in a given space, a motor () for operating the robot arm (), a torque adjustment device () for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor () to the robot arm (), and a control device () for performing operation control of the robot arm (). The robot arm () is provided with a gravity-compensating mechanism () for cancelling an effect of gravity due to the robot arm (), and the control device () commands adjustment of the transmitted torque at the torque adjustment device (), without taking into account the effect of the gravity of the robot arm ().

Robot arm control system

A process for fixing a toner image formed on a support by means of a heat roller according to the present invention comprises fixing the toner image developed by using a toner containing as the binder resin a styrene-butadiene copolymer containing 70 to 95 mole % of styrene.

Process for fixing a toner image

An electrophotographic method comprises developing an electric latent image formed on a photosensitive member comprising a photoconductive material and containing a first color forming agent in a surface for forming a visible image with a charged toner particle containing a second color forming agent, and heating to cause a thermal color forming reaction therebetween resulting in formation of a colored fixed image on the photosensitive member and a receiving sheet comprising a color forming agent (B) and a material having a melting point from 40.degree. to 130.degree. C.

Receiving sheet

An electrophotographic method comprises developing an electric latent image formed on a photosensitive member comprising a photoconductive material and containing a first color forming agent in a surface for forming a visible image with a charged toner particle containing a second color forming agent, and heating to cause a thermal color forming reaction therebetween resulting in formation of a colored fixed image on the photosensitive member.

Toner image receiving sheet with color forming agents

Growing community of inventors

Tokyo, Japan

Yoshihiro Sakamoto