Patent application number | Description | Published |
20090200815 | Pressure sensor and robot hand system - According to one embodiment in the invention, a pressure sensor includes: an inner flexible insulation substrate; a plurality of inner electrodes arranged on the inner flexible insulation substrate at a certain distance from each other; an outer flexible insulation substrate disposed along an outer face of the inner flexible insulating substrate so that the inner electrodes are disposed between the inner flexible insulation substrate and the outer flexible insulation substrate; a plurality of outer electrodes disposed on an outer face of the outer flexible insulation substrate at a given distance from each other; and an elastic cover covering the outer face of the outer flexible insulating substrate with the outer electrodes, wherein respective distances between the inner electrodes and the outer electrodes are variable by a pressure applied externally to the elastic cover. | 08-13-2009 |
20110060460 | ROBOT CONTROL APPARATUS - A robot control apparatus includes: a drive unit ( | 03-10-2011 |
20110218673 | ROBOT CONTROL APPARATUS - A robot control apparatus includes: a joint angular velocity estimation unit ( | 09-08-2011 |
20120022690 | ROBOT CONTROL APPARATUS - In an embodiment of the present invention, with the purpose of more accurately calculating a disturbance torque generated by an external force acting on a robot, friction parameters contained in algorithms, such as a friction coefficient and a dead-zone threshold value, are dynamically changed based on the mode of operation, the operation speed, and the like. In this manner, a drive torque is estimated with high accuracy. | 01-26-2012 |
20120110833 | PROCESS CONTROL METHOD, DATA REGISTRATION PROGRAM, AND METHOD FOR MANUFACTURING ELECTRONIC DEVICE - A process control method and data registration program for a surface mount line includes retrieving printing quality data, mounting quality data, and soldering pass/fail data from a primary recorder, recording the printing quality data, the mounting quality data, and the soldering pass/fail data for each of the components in a secondary recorder, and determining whether the solder printer and the mounter need adjustment by using the data of the components which are associated with the soldering pass/fail data recorded in the secondary recorder by a computer. | 05-10-2012 |
20120150347 | ROBOT CONTROLLING DEVICE - A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount. | 06-14-2012 |
20130073084 | ROBOT CONTROL APPARATUS - A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix. | 03-21-2013 |
20130073085 | ROBOT CONTROL APPARATUS, DISTURBANCE DETERMINATION METHOD, AND ACTUATOR CONTROL METHOD - A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period. | 03-21-2013 |
20130176889 | CLOSED LOOP FORMATION PREVENTING SYSTEM AND CLOSED LOOP FORMATION PREVENTING METHOD - In an open flow network system in which there are a plurality of networks, in each of which one OFC (OpenFlow Controller) manages a plurality of OFSs (OpenFlow Switches), and a large network is formed by a combination of them, registration of a flow entry which forms a closed loop is prevented without a component and a procedure for cooperation of the plurality of OFCs. Specifically, after route calculation, the OFC temporarily registers an flow entry of a calculation result on a flow table of the OFS as the flow entry for a test. After that, the OFS flows the test packet according to the temporarily registered flow entry. When the test packet is routed without forming the closed loop, the OFS detects it and normally registers the flow entry for a first time. Detecting that the test packet forms a closed loop, the OFS deletes a temporarily registering flow entry and returns an error to the OFC. | 07-11-2013 |
20150016477 | NETWORK SYSTEM AND METHOD OF SYNCHRONIZING PATH INFORMATION - The network system has a switch and a controller. The switch performs processes of a received packet in accordance with a flow entry in which are defined a rule and an action to uniformly control a packet as a flow. The controller transmits a control message to the switch to perform a setting of the flow entry, holds a flow entry identical to the flow entry set to the switch, manages a synchronization state per unity of a flow entry and preferentially synchronizes, in a case the flow entry is not synchronized, a specific flow entry between the switch. | 01-15-2015 |