A robot control apparatus includes: a drive unit (101) driving an actuator (115) based on a torque command value; a drive torque estimation unit (107) estimating a drive torque from a joint shaft angle; an external torque calculation unit (108) calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit (105) calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit (109) calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit (110) calculating a correction amount from the external force.

Robot control apparatus

Provided is a control apparatus for a robot arm performing assembly. The control apparatus includes an operation database recording information as to an operation of the robot arm, and includes a correction operation type determining unit determining a correction type for the operation. The control apparatus also includes a force detecting unit detecting a force of a person, and an operation correction unit correcting an operation in accordance with the force of the person and the correction type, while the robot arm is performing a task.

Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm

PROBLEM TO BE SOLVED: To reduce fatigue of an operator, mistake in operation, and working time, by making the operator of a beginner and the like efficiently and accurately leaning operation skill possessed by an expert. SOLUTION: In a step 270, a point closest to a position r of a present control point is searched from a group of sampling points positioned on a carrying path indicated by sample data (expert data), and the operation force of an expert at that point is obtained. In a step 760 and a step 770, the operation force (correction) of a beginner after correcting is decided as shown. n indicates a correction factor. By means mentioned above, a value of the operation force of the beginner used for assist ability computing process (calculation of assist ability) is corrected (straighten) by a step 770 according to operating conditions of the recorded expert, so that moderate straightening force can be generated. Therefore, the straightening force supports the beginner and the like to efficiently and accurately lean the operation skill possessed by the expert. COPYRIGHT: (C)2003,JPO

Power assist device

Systems and methods in accordance with embodiments of the invention implement bulk metallic glass-based strain wave gears and strain wave gear components. In one embodiment, a method of fabricating a strain wave gear includes: shaping a BMG-based material using a mold in conjunction with one of a thermoplastic forming technique and a casting technique; where the BMG-based material is shaped into one of: a wave generator plug, an inner race, an outer race, a rolling element, a flexspline, a flexspline without a set of gear teeth, a circular spline, a circular spline without a set of gear teeth, a set of gear teeth to be incorporated within a flexspline, and a set of gear teeth to be incorporated within a circular spline.

/pdf/systems-and-methods-for-implementing-bulk-metallic-glass-21n7iaup7v.pdf

Systems and Methods for Implementing Bulk Metallic Glass-Based Strain Wave Gears and Strain Wave Gear Components

Systems and methods in accordance with embodiments of the invention implement additive manufacturing techniques that employ different sets of deposition characteristics and/or material formation characteristics during the additive manufacture of an object so as to strategically build up the object. In many embodiments, material used to build up an object is deposited at different deposition rates during the additive manufacture of the object, and the object is thereby strategically built up. In one embodiment, a method of additively manufacturing an object includes: depositing material onto a surface at a first deposition rate so as to define a first region of the object to be additively manufactured; and depositing material onto a surface at a second deposition rate so as to define a second region of the object to be additively manufactured; where the second deposition rate is different from the first deposition rate.

https://ntrs.nasa.gov/api/citations/20180006279/downloads/20180006279.pdf

Systems and methods for additive manufacturing processes that strategically buildup objects

PROBLEM TO BE SOLVED: To correctly detect force generated on an arm, and to correctly detect external force without burdening a teacher, by mounting a force detector between a force amplifying means and the arm, as a torque sensor. SOLUTION: When the operation of an arm 2 is executed, the external force 22T and an angle command value 23T of the stored teaching data, are respectively read every specific time, to calculate the resultant force 25 by a subtractor on the basis of the external force 22T and the external force 22P detected by the torque sensor 1 at the execution of the operation, and an angle command value 23P is calculated on the basis of the dynamic behavior model 6. A new angle command value 26 is calculated by an adding machine 12 on the basis of the command value 23P and the command value 23T, to be used as the angle command value. A servo-controller 8 which receives the command value, calculates the deflection of the detected angle 21P to the angle command value 26, commands a motor driving torque 24P to a motor 3, so that a real angle follows up the angle command value 26, and the arm 2 is moved through the reduction gears 4, to make the motion representing the taught motion and force. COPYRIGHT: (C)1998,JPO

Arm driving device

PROBLEM TO BE SOLVED: To realize a harmonic speed reducer increased in durability, reduced in weight, and manufacturable easily. SOLUTION: This harmonic speed reducer comprises an annular rigid internal gear 2, a flexible external gear 3 disposed on the inside thereof, and a wave generator 4 disposed on the inside thereof. The flexible external gear 3 comprises a tubular body part 31 radially deformable and having flexibility, a tubular tooth part 30 having external teeth formed formed continuously with one end of the body part 31 thereof, an annular diaphragm 32 radially extending continuously with the other end of the body part 31, and a boss 33 continued with the diaphragm. The flexible external gear 3 comprises a body part of which outer diameter is 7 mm or smaller and is formed of a titanium alloy containing 30 to 60 mass% vanadium group elements or a metal glass containing zirconium and nickel. COPYRIGHT: (C)2007,JPO&INPIT

Harmonic speed reducer

PROBLEM TO BE SOLVED: To provide an encoder to which heat and vibrations are not directly transmitted from a motor and which nearly eliminates an adjustment in assembling even if it is formed compact. SOLUTION: The light from a light source 3 irradiates a rotary polarizer 2, so that the light conforming to a plane of polarization is passed. The passed light is reflected at a reflecting mirror 1, passes through the rotary polarizer 2 and hits fixed analyzers 4a-4d. The amount of each light passing through the fixed analyzer 4a-4d and detected at a photodetector 5a-5d corresponds to an angular shift of planes of polarization of the rotary polarizer 2 and the fixed analyzer 4a-4d. That is, the amount changes in the form of a sine wave in accordance with the rotation of the rotary polarizer 2, whereby sine wave signals Sa-Sd of two cycles are obtained per one rotation of the rotary polarizer 2. Output signals of A, B two phases of a 90° phase difference which are stable without influences by a temperature change or noises of optical parts, etc., are obtained by obtaining a difference of the sine wave signals Sa and Sc, and Sb and Sd. COPYRIGHT: (C)1998,JPO

Sine wave encoder

PURPOSE: To obtain a magnetostriction type strain sensor which can accurately detect rotational deviation, torque, tension, etc., with high outputs. CONSTITUTION: This strain sensor is provided with a magnetic film 3 which has an inverse magnetostriction effect and is formed on the surface of a force transmitting member 1 by a vacuum technique and detects a strain generated in the surface of the member 1 by recognizing a change in the permeability of the film 3 caused by the strain generated in the surface of the member 1 by a coil 2 arranged around the film 3 as a change in the impedance of the coil 2. The film 3 is composed of a film having a coefficient of thermal expansion which is smaller than that of a strain transmitting shaft and a negative magnetostriction constant. In addition, austenitic stainless steel or an aluminum alloy is used for manufacturing the strain transmitting shaft and an alloy containing Fe by 0-15wt.% and Ni by 100-85wt.%, Co alloy containing Ni by 55wt.%, or Co is used for forming the magnetic film 3. COPYRIGHT: (C)1993,JPO&Japio

Magnetostriction type strain sensor

PROBLEM TO BE SOLVED: To provide a compact harmony speed reducer capable of solving the problem of the large-size formation of the device and acquiring high-torque output characteristics and having few variations in a rated output level SOLUTION: The harmony speed reducer comprises a wave generator; a circular spline surrounding the wave generator inside; and a flexspline 43 surrounding the circular spline inside The flexspline 43 is constituted of maraging steel Slits 31 are formed in a section to be measured on which torque acts A coil 2 is arranged with a prescribed gap from the section The harmony speed reducer is provided with an impedance detection sensor for detecting torque acting on the flexspline 43 by a coil 23 as changes in impedance based on changes in the magnetic characteristics of the section to be measured COPYRIGHT: (C)2006,JPO&NCIPI

Iwao Sasaki

Papers

Arm driving device

Harmonic speed reducer

Sine wave encoder

Magnetostriction type strain sensor

Harmony speed reducer