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

An apparatus (100), comprising a transparent capacitive sensor (102); a body (101 ) configured to support the transparent capacitive sensor in front of an eye (1 12) of a user (1 10); and a driver (106) configured to receive signals from the sensor and to determine eye movements based on the received signals, wherein the sensor (102) is configured to detect movement of the eye (1 12) based on electrostatic effect caused by a bulge of the cornea of the eye (1 12) The apparatus may be wearable by the user like eyeglasses

Capacitive eye tracking sensor

A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.

Robot hand and robot

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

An earth-boring rotary drill bit includes a bit body configured to carry one or more cutters for engaging a subterranean earth formation, the bit body comprising a particle-matrix composite material having a plurality of hard particles dispersed throughout a matrix material, the matrix material comprising a shape memory alloy. The matrix material comprises a metal alloy configured to undergo a reversible phase transformation between an austenitic phase and a martensitic phase. The matrix material may include an Ni-based alloy, Cu-based alloy, Co-based alloy, Fe-based alloy or Ti-based alloy. The drill bit may be made by a method that includes: providing a plurality of hard particles in a mold to define a particle precursor of the bit body; infiltrating the particle precursor of the bit body with a molten matrix material comprising a shape memory alloy forming a particle-matrix mixture; and cooling the molten particle-matrix mixture to solidify the matrix material and forming a bit body having a particle-matrix composite material comprising a shape memory alloy.

Earth-boring particle-matrix rotary drill bit and method of making the same

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 provide a small electrostatic floating conveyor that eliminates static electricity on its glass substrate reliably and is therefore free from dust deposition thereon. SOLUTION: The electrostatic floating conveyor comprises displacement sensors 3A to 3D for detecting the gaps between electrodes 2A to 2D for electrostatic flotation and a glass substrate 1, a flotation controller 5 for controlling the voltages applied to the electrostatic flotation electrodes 2A to 2D so that the glass substrate 1 is floated up to a target position by comparing detection values from the displacement sensors 3A to 3D with preset target values to compute the deviations of them, and a floating voltage generator 4 for generating voltages applied to the electrostatic flotation electrodes 2A to 2D in response to control signals from the flotation controller 5. The previous stage of the floating voltage generator 4 is provided with a static elimination signal generator 6 generating static elimination signals that impress an alternating electric field on the electrostatic flotation electrodes 2A to 2D.

Electrostatic floating conveyor

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 a thermosetting resin composition at low manufacturing cost without generation of crack or gas discharge. SOLUTION: This thermosetting resin composition is formed by filling a surface of thermosetting resin with an inorganic filler of nanometer size. Its manufacturing method includes a film forming process of forming a hydrophobic polymer film 5 by blending a hydrophobic polymer material with the inorganic filler of nanometer size, a molding process of forming the thermosetting resin composition by blending a thermosetting resin material with a hardening agent and molding it to form the thermosetting resin composition, and an absolute contact process of forming the hydrophobic polymer film on the surface of the thermosetting resin composition. COPYRIGHT: (C)2006,JPO&NCIPI

Thermosetting resin composite for vacuum and its production

PROBLEM TO BE SOLVED: To provide a multifinger hand, a robot, and a gripping method of the multifinger hand which are adapted to grip with an optimum force without influence of the shape of an object and without damage to the object. SOLUTION: The multifinger hand for gripping the object includes a control means for controlling a driving section according to a detection result obtained by detecting a position relative to the object disposed at a finger section; and a means for adjusting the state of contact between a fingertip and the object. In the multifinger hand, at least two pressure sensitive elements are disposed at a distal end portion of the finger section. The multifinger hand also includes, as slip amount detection means, a light source; an image sensor for capturing image information; and an operation means for operating a relative movement amount of the object with respect to the multifinger hand based on a difference of the image information of the image sensor. COPYRIGHT: (C)2010,JPO&INPIT

巌佐々木

Papers

Arm driving device

Electrostatic floating conveyor

Harmonic speed reducer

Thermosetting resin composite for vacuum and its production

Multifinger hand, robot, and method of gripping multifinger hand

巌 佐々木

Papers

Arm driving device

Electrostatic floating conveyor

Harmonic speed reducer

Thermosetting resin composite for vacuum and its production

Multifinger hand, robot, and method of gripping multifinger hand

巌佐々木