Showing papers by "Toyota published in 1990"

Short- and long-term effects of cigarette smoking on heart rate variability.

Abstract: The short- and long-term effects of cigarette smoking on autonomic cardiac regulation were investigated by power spectral analysis of heart rate variability under controlled respiration (15/min). The short-term effects were examined in 9 smokers without evidence of cardiopulmonary disorders after an overnight abstinence from smoking. The heart rate spectral component reflecting the respiratory sinus arrhythmia (0.25 Hz), a quantitative index of vagal cardiac control, decreased 3 minutes after smoking 1 cigarette (p = 0.0061) and the component reflecting Mayer wave sinus arrhythmia (0.04 to 0.15 Hz), which includes sympathetically mediated activity, increased after 10 to 17 minutes (p = 0.0124). The long-term effects were examined in 81 normal subjects comprising 25 nonsmokers, 31 moderate (1 to 24 cigarettes/day) smokers and 25 heavy (greater than 25 cigarettes/day) smokers after an overnight abstinence. Although the magnitude of the Mayer wave component was unaffected by the smoking status, the respiratory component in the supine position was smaller in the young (less than or equal to 30 years) heavy smokers than in the young nonsmokers or moderate smokers (p = 0.0078). Also, postural changes in the components, a decrease in the respiratory component and an increase in the Mayer wave component with standing, were observed in the nonsmokers but not in the heavy smokers. These results suggest that smoking causes an acute and transient decrease in vagal cardiac control, and that heavy smoking causes long-term reduction in vagal cardiac control in young people and blunted postural responses in autonomic cardiac regulation.

Deformation of polyelectrolyte gels under the influence of electric field

Abstract: Deformation of acrylic acid–acrylamide copolymer gels in an aqueous solution under the influence of a dc electric field was studied. In the electric field, the gel swells, shrinks, or bends. It depends on the concentration of polyion coo− in the gel. When the concentration is low, the gel shrinks, and, when high, it swells. The gel which does not contain polyion is not influenced by the electric field. The long and thin gel is bent in an arc. The bent gel can be recovered to the original shape by removing the applied electric field or by changing the polarity of the applied electric field. The deformation is closely related to two substantial changes. One is the change of the osmotic pressure caused by the ion concentration difference between the inside and the outside of a gel. The other is the conformational change of the polymer network with decreasing of the polyion concentration.

Polymer-Based Molecular Composites

Abstract: This book discusses the development of polymeric materials over the last 30 years The chemist's ability to manipulate structure and tailor the properties of organic materials for specific applications is presented The phenomenal success of polymer chemistry is addressed The need for a research base in multiphase polymeric materials similar to that which underlies single-phase organics is examined

Solidification processing and tribological behavior of particulate TiC-Ferrous Matrix composites

Abstract: Particulate TiC-reinforced ferrous matrix composites were processed by solidification of (1) an FeTiC melt of appropriate composition from which particulate titanium carbide precipitates and (2) an FeC melt in which particulate titanium carbide is dispersed through electromagnetic stirring. The microstructure of composites processed by precipitating titanium carbide was controlled by controlling melt composition and homogeneity, as well as cooling rate. That of composites processed by dispersing titanium carbide powder in a steel or cast iron melt was controlled by controlling the original melt composition, volume fraction and particle size of titanium carbide added, mixing temperature and time, and cooling rate. The specific wear rate and the friction coefficient between a diamond stylus and the polished surface of composite specimens decreased with increasing volume fraction of titanium carbide and decreasing carbide particle size and spacing. They also decreased with increasing steel matrix microhardness, achieved through heat treatment and martensitic transformation.

Parts supply instruction apparatus

Abstract: The parts supply instruction apparatus includes a production schedule system, a parts information system, a car information system, and an order issue managing system which are preferably located at an assembly factory. The order issue managing system scans a parts master file and extracts required data therefrom relating to parts to be ordered to produce order issue data. The order issue data is sent to a received order managing system which is located at a parts supply factory. The type of parts supply order system operated by the apparatus can be changed between the production schedule system, the part information system and the car information system merely by changing a designation parameter corresponding to a respective system, inserted in an order type column of the parts master file.

Catalyst for purification of exhaust gases

Abstract: A catalyst for purification of exhaust gases, comprising a support substrate, a catalyst carrier layer formed on the support substrate and catalyst ingredients loaded on the catalyst carrier layer, wherein the catalyst carrier layer comprises alumina, cerium oxide, zirconium oxide and at least one oxide of rare earth element except cerium and lanthanum, and at least a part of cerium oxide, zirconium oxide and oxide of rare earth element except cerium and lanthanum is present in the form of composite oxide and/or solid solution. The catalyst for purification of exhaust gases is capable of purifying exhaust gases containing carbon monoxide (CO), hydrocarbons (HC) and nitrogen oxides (NOx).

AI-based adaptive vehicle control system

Abstract: An AI-based adaptive vehicle control system which controls the speed of a vehicle in accordance with the driving characteristics of the driver. In effecting the follow-up driving which corresponds to the driving characteristics of the driver, the vehicle environment such as the distance between the vehicle and the vehicle in front, the relative speed, and the relative position, and the running state such as the speed and the steering angle of the vehicle itself are detected, and a danger index is calculated from the detected vehicle environment and running state in accordance with the driver's sense of driving. The danger index is calculated by the fuzzy induction from the membership functions which are determined in advance in accordance with a general driver's sense of driving. The running state of the vehicle such as the speed is controlled in accordance with the danger index. When the manipulated variable is changed by the driving operation of the driver, the danger index is adjusted in accordance with the amount of change. The change by the driving operation of the driver is reflected as the change in the membership functions. Thus, the calculated danger index gradually agrees with the driving characteristic of the driver.

System for treating vaporized fuel in an internal combustion engine

Abstract: A device for treating vaporized fuel from a fuel tank of an internal combustion engine, and having a canister. The fuel tank has an inner partition wall which divides the space inside the fuel tank into a first small chamber and a second large chamber, which are separated from each other. A fuel flow is allowed at locations below the fuel levels in the first and second chambers, which are independently connected to the canister device, and a fuel filling pipe is open to the first, small chamber. A pressure control means is provided for maintaining a pressure in the second chamber higher than that in the first chamber, which is near to the atmospheric pressure, whereby fuel vapor is prevented from escaping from the first chamber during a fuel-filling operation.

Effect of cerium addition on the thermal stability of gamma alumina support

Abstract: Transition alumina, such as 7-A1203, 0-A1203 and 6-A1203, has been widely used as a catalyst support. The surface area of the support significantly decreases at high temperature operations, for example in purifying automotive exhaust gas [1]. In this case, it is important to maintain the support with high surface area free of sintering or phase transition, otherwise precious metals (platinum, rhodium etc.) supported on alumina will consequently sinter. Cerium and other rare earth elements have been used as a promoter to improve the catalytic activities for purifying carbon monoxide, nitrogen oxides and hydrocarbons emitted from automotive engines [2-4]. It has been suggested that the addition of cerium plays serveral roles, including the catalysis of the water-gas shift reaction, the oxygen storage in the lattice for oxidation catalysis under rich air-fuel conditions, and the inhibition of the growth of noble metal particles. The present letter describes the influence of the addition of cerium to 7-A1203 catalyst supports on the phase transition of 7-A1203 to ~-A1203 and the sintering of transition alumina below the transition temperature. A series of cerium-added alumina was prepared by the impregnation technique. Powdered 7-A1203 with surface area 170 m 2 g ~ was used as a support, and an aqueous cerium nitrate was used as an impregnation solution. The samples were then dried at 110 ° C for 8 h and calcined at 600°C for 3 h. The starting alumina contained 0.05 wt % impurities, mainly iron and trace silicon, calcium and sodium. The cerium contents of the samples were 0.5, 1, 2, 3, 5 and 10mol% by the CeO2 to the total moles of oxides (CeO2 + A1203). The samples were further calcined in air at a temperature between 1 000 ° C and 1 200 ° C for 5 h in order to examine the thermal stability of the alimina support. The surface area of the samples was derived by application of the BET equation, from nitrogen adsorption data obtained at 77K by a standard volumetric procedure. The phase transition temperature was measured with a DTA apparatus at heating rates of 2.5, 5, 10 and 20Kmin ~ using 0¢-A1203 powder as a reference material. Kissinger's plots [5] were applied to the evaluation of the activation energy of the phase transition from active alumina to c¢-A12 03. Phase analysis was done by the powder X-ray diffraction (XRD) technique. The amount of ~-A1203 in the samples was determined by the XRD intensity of the (1 00) diffraction line of 0~-Al203. The standard data were obtained from the XRD data of the mixtures of u-A1203 powder and 0-A1203 powder which were formed by calcining 7-A1203 at 1 300°C and l 000°C for 10 h. The samples containing 0.01 mol % gadolinium were prepared by the same procedure as above, but using an aqueous solution of gadolinium nitrate. Fig. 1 shows the Surface area of alumina supports containing cerium with different molar concentrations, calcined in air at 1 000 ° C, l 100°C and 1 200°C for 5 h. The thermal stability of alumina was improved by the addition of only 0.5 to 2 mol % cerium, and a gradual decline in surface area was found with increasing cerium content. XRD analysis of the samples calcined in air at 1 200°C indicated that 0.5 mol % Ce-A1203 consisted of 0-, ~and ~-A1203, and that pure A1203 completely transformed to ~-A1203 (Fig. 2). CeO2 phase was found in the samples with more than 2 mol % cerium. These results clearly show that the addition of cerium improves the thermal stability of alumina at 1 200°C by preventing the transformation to ~-A1203. However, the overloading of cerium decreases the surface area of the alumina because of the growth of CeO2 particles. The XRD data of the samples calcined at 1 100°C indicated the formation of 0and ~-A12 03. The decrease in surface area was inhibited by the cerium loading at 1 100 ° C. Kissinger's plots of the data obtained by DTA for both pure AI203 and 0.5 tool % Ce-AI203 and given in Fig. 3 as the relation of ln[(dT/dt)Tn72] with l/Tm. (dT/dt) is the heating rate, and Tm represents the maximum rate temperature of the phase transition. The activation energy of the phase transition was calculated at 581kJmol ~ for pure AI203 and 582 kJ tool ~ for 0.5 mol % Ce-A1203. Although these values are rather high compared with those in the literature [6, 7], it can be found that the alumina in this study has the constant activation energy of the phase transition regardless of the cerium addition. Scanning electron microscopy (SEM) observation of the samples calcined at ! 200 ° C revealed the formation of ~-A1203 particles, 0.1 to 0.3 #m in diameter. The particle size was independent of the content of cerium in the samples. These results can be explained by assuming that the cerium addition decreased the ~-A1203 transformation by influencing the nucleation process of ~-A1203 but not its growth process. Fig. 4 compares the 1 250 ° C isothermal transformation data for pure A1203 with those for 0.5mol % Ce-A1203. The data were analysed using the following empirical kinetic equation

Tactile image detection using a 1k-element silicon pressure sensor array

Abstract: A 32 × 32 (1k)-element silicon pressure sensor array with CMOS processing circuits has been fabricated for the detection of a high-resolution pressure distribution. The sensor array consists of an X – Y matrix organized array of pressure- sensing cells with a spacing of 250 μm; CMOS processing circuits are formed around the array on the same chip. Fabrication of the sensor array is carried out using a 3 μm CMOS process combined with, Si micromachining techniques. The diaphragm size is 50 μm × 50 μm square. The sensor array chip size is 10 mm × 10 mm. The main features of the design for the tactile image detector are the two-line readout system for a full bridge of piezoresistors in each individual cell for noise reduction, and the low power consumption array exciting system with n-MOS power switches selecting the X – Y address in large-scale sensor integration. A tactile image-detecting system is set up for indicating tactile images as visible pictures. The detecting system is provided with functions for signal amplification and offset cancellation. High-resolution tactile images are stably shown as two- or three-dimensional figures on the display through computer processing of the readout data.

Low friction coatings of diamond-like carbon with silicon prepared by plasma-assisted chemical vapor deposition

Abstract: Amorphous carbon-silicon ( a –C–Si) coatings with smooth surface and adhesion to steel substrate were deposited at 550°C by a dc glow discharge method from reactant gases of CH 4 , SiCl 4 , H 2 , and Ar at a deposition rate of 1–3 μm h −1 . Diamond-like carbon was detected by laser Raman spectroscopy in the coatings with high hardness of Hv 2000 and more than 70 at. % carbon. Ball-on-disk type and Ohgoshi-type apparatuses were used to measure the tribological properties. Ball-on-disk tests revealed that the a –C–Si coatings showed a friction coefficient as low as 0.04 against steel with no lubricant in an ambient atmosphere of 70% relative humidity, which was one-third that of an i –C coating. The wear rate of the steel ball against the coated disk was an order and three orders of magnitude smaller than that against i –C coated and uncoated disks, respectively. Both types of tests showed that the wear rate of the a –C–Si coating itself was also very small.

Thermal stability and characterization of γ-Al2O3 modified with rare earths

Abstract: Rare earth modification was effective for improving the thermal stability of γ-Al2O3. It inhibited the grain growth of transition Al2O3 and the formation of α-Al2O3. The surface area was 12 m2 g−1 for pure Al2O3, 40 m2 g−1 for ceriummodified Al2O3 and 51–59 m2 g−1 for Al2O3 modified with lanthanum and others, heated at 1200°C for 5 h. The activation energy of α transformation, evaluated by differential thermal analysis, was 581–583 kJ mol−1 for pure and cerium-modified Al2O3 and 635–655 kJ mol−1 for Al2O3 modified with lanthanum, samarium and ytterbium. Lanthanum inserted into the crystal lattice of Al2O3 with spinel structure, whereas cerium existed on the Al2O3 surface as a form of CeO2. The difference in states between La3+ and Ce4+ can explain that the modification of lanthanum is more effective than that of cerium for improving the thermal resistance of γ-Al2O3.

Interrogator/transponder system and mobile transponder device

Abstract: An interrogation responder system composed of a transmitter stationarily mounted in a certain fixed place and a receiver mounted on a mobile object. The receiver on the mobile side starts the operation when a power is supplied to the entire circuit in accordance with a wake-up signal from the transmitter on the fixed side so as to modulate the electromagnetic signal emitted from the transmitter on the fixed side in accordance with a predetermined code and reflect a response. This enables continuing bilateral communication of a command, data and so forth. By starting communication between the transmitter and the receiver by a direct wave of a carrier signal in a microwave band after sensing that the receiver on the mobile side has entered a good communication zone, secure communication is enabled at a sufficient electric field strength.

Current control system for inverter

Abstract: A current component, in which a phase angle is different by a predetermined reference angle from a magnetic flux occurring in an inductive load, is brought to a q-axis current. The q-axis current is computed on the basis of phase current. A phase angle of the magnetic flux is detected. A q-axis-current control phase and a reference potential phase are determined on the basis of the result of pulse-width-modulation computation and the phase angle. The q-axis-current control phase is controlled in a pulse-width-modulation manner. A potential of the remaining reference potential phase if fixed to a reference potential. Thus, interference among the phases is prevented to reduce current ripple.

Continuous-wave spectroscopy of femtosecond carrier scattering in GaAs.

Abstract: Cette spectroscopie fournit des informations sur la structure de bande, sur les vitesses de diffusion electron-phonon, electron-electron, et intervallee, ainsi que sur les niveaux d'impuretes aux minima des bandes de conduction elevees dans des semiconducteurs de composes III-V

Exhaust gas purification device in variable combination of absorbent and catalyst according to gas temperature

Abstract: An exhaust gas purification device for purifying exhaust gas of an engine, having an absorbent trapper absorptive of hydrocarbons in the exhaust gas up to a first gas temperature such as 200° C. while releasing the absorbed hydrocarbons in the exhaust gas above a second gas temperature such as 400° C., and a passage system responsive to the gas temperature for conducting the exhaust gas from the engine to pass through the absorbent trapper until the gas temperature rises up to the first gas temperate, to bypass the absorbent trapper when the gas temperature exceeds the first gas temperature, and to pass through the absorbent trapper and the catalytic converter in this order when the gas temperature exceeds the second gas temperature.

Mobile antenna system.

Abstract: In mobile communications, it is required that the beam direction is maintained to track the desired direction as the mobile is moving. For such a purpose, the mobile includes an angular rate sensor mounted therein which detects the state of turn in the mobile and to control the beam direction of the antenna in accordance with the state of turn as well as the strength of radiowave received by a receiver in the mobile. Antenna elements (114) are in the form of microstrip antenna and are arranged in plane on the same dielectric substrate (113 or 112). Feeding and drive circuit layers (122, 124) for controlling the transmission and reception at the antenna elements are stacked into a single layered unit. This enables the antenna system to be formed into a low-profile structure. The dielectric substrate of the microstrip antenna element is formed by stacking a plurality of dielectric substrates (112, 113) different in dielectric constant from one another. It is thus intended that the band width of the antenna is increased and that the mutual coupling between the antenna elements is reduced to prevent the gain of the antenna from being lowered. Furthermore, the position of feed points in the antenna element are rotated against each adjacent antenna element. This can improve the axial ratio in the array antenna over a wide band width.

Suspension control system

Abstract: In a suspension control system, accelerations detected by acceleration sensors are differentiated by a differentiator to calculate acceleration derivative values. Based on these values, a target electrical current calculating section calculates a target electrical current that is supplied to an actuator which controls a damping force of a damper. Before a rolling or pitch angle occurs in the vehicle, the change of the rolling or pitch angle is predicted to control the damping force of the damper, thereby improving the response of rolling angle and pitch angle control to achieve, simultaneously, an accurate posture control and a satisfactory riding comfort. Because the target electrical current calculating section corrects the target electrical current of the actuator based on a damper speed obtained by differentiating a damper displacement, even when a large input is applied to the damper due to an unevenness of the road surface, a proper posture control is performed.

Pressure control system for suspension

Abstract: A pressure control system for suspension delivers a pressure which is proportional to a current level chosen to energize a solenoid of a pressure control valve to a shock absorber of a suspension. A change in the pressure of a return path which supplies a low pressure to the pressure control valve causes the pressure which is applied to the suspension to change. In order to suppress such change, a junction of the pressure control valve with the return path has an orifice interposed therein or is connected to a low pressure accumulator. On the other hand, in the event a depression occurs in the output of the high pressure piping, a cut valve which functions to isolate the suspension from the pressure control valve may be temporarily cut off in response to a pressure fluctuation in the high pressure piping. In order to prevent this, an orifice is interposed between the high pressure piping and a pilot chamber of the cut valve.

Internal combustion engine with a dual turbocharger system

Abstract: An internal combustion engine with a dual turbocharger system includes an air bypass conduit connecting a downstream portion of a first turbocharger compressor with an upstream portion of a second turbocharger compressor so that the length of the air bypass conduit is relatively long. When a throttle is rapidly closed, an air bypass valve installed in the air bypass conduit is opened and the compressed air downstream of the throttle valve is returned to the upstream of the turbocharger compressor to suppress occurrence of a surging at the turbocharger compressor. Since the air bypass conduit is relatively long, the compressed and circulated air is effectively cooled when flowing through the air bypass conduit and melting of an impeller of the turbocharger compressor is prevented.

Microwave heating of ceramics and its application to joining

Abstract: A new butt joining method for ceramics by microwave heating was developed. Ceramics were heated in a rectangular cavity, and a klystron of maximum 3 kW at 6 GHz was used as the power amplifier. The heating system can control an iris, a plunger, and the microwave power to maintain the power efficiency up to 90% and the accuracy within ±10°C at 1800 °C. This system was applied to alumina-alumina direct joining. The average strength of alumina rods (92% purity) joined for 3 min was 420 MPa, which was equal to the original strength. The joined boundary line at the interface was not observed, and there was little difference in microstructure between before and after joining. This suggests that sintering aids in the grain boundary phase were preferentially heated and melted, resulting in the sound joining of ceramics. Next, silicon nitride ceramics containing yttrium were indirectly joined with an intermediate, which was a sintered ceramic sheet having lower purity and larger dielectric loss factor than the base material. The microwave energy was concentrated on the ceramic sheet, so that only the joining area was locally heated. The strength of the joined rods was in excess of 70% of the base material, but a deficient layer of yttrium occurred in the area of the joined boundary.

Prediction of fiber orientation in injection molded parts of short-fiber-reinforced thermoplastics†

Abstract: Fiber orientation induced by injection mold filling of short-fiber-reinforced thermoplastics (FRTP) causes anisotropy in material properties and warps molded parts. Predicting fiber orientation is important for part and mold design to produce sound molded parts. A numerical scheme is presented to predict fiber orientation in three-dimensional thin-walled molded parts of FRTP. Folgar and Tucker's

Pore size distribution and adsorption selectivity of sepiolite

Abstract: Micropore distribution and effective size of the channels of natural sepiolite from Turkey were measured by the BET method. Before the BET measurement, the samples were treated under a water vapour atmosphere at various pressures to fill progressively the sepiolite micropores with water. The surface areas measured by means of N 2 adsorption decreased with increased vapour pressures of water. The outer surface area was estimated by comparison of the surface area of the vacuum-dried sepiolite with that filled with adsorbed water. The total surface area was ~290 m2/g, and the outer surface area was 170 m2/g, the difference being attributed to the structural micropores of the sepiolite. The ratio of the surface areas possessed by the channels and that of the outer surface suggest that the mean thickness of the sepiolite fibre was ~ 12 nm. The effective size of the channels was estimated from the number of various-sized molecules sorbed by the sepiolite, the results showing that molecules larger than benzene could not migrate into the channels.

Apparatus for visual recognition

Abstract: A basic image of objects is extracted from a two-dimensional image of objects. Geometrical elements of the objects are extracted from the extracted basic image. The objects to be recognized are identified by searching a combination of the geometrical elements which match a geometrical model and then utilizing candidate position/orientation of the objects to be recognized, said candidate position/orientation being determined from a relationship in relative position between the combination of geometrical elements and the geometrical model. Mesh cells fixed to the geometrical model are mapped on the basic image based on the candidate position/orientation. In addition, verification is made as to whether an image of the geometrical model mapped by the candidate position/orientation is accurately matched with an image of one of the objects to be recognized, through a neural network to which values got from the basic image included in the individual mesh cells are to be applied as input values. Combination weight factors employed in the neural network are learned according to the verified results. It is also possible to recognize the multi-purpose objects according to how to learn the combination weight factors.

Apparatus for controlling heater for heating oxygen sensor

Abstract: An apparatus for controlling a heater for heating an oxygen sensor provided in an exhaust gas flow passage of an internal combustion engine disposed in an automotive vehicle includes a detection circuit, a decision circuit and a power supply control circuit The monitor circuit detects a driving condition parameter of the automotive vehicle The decision circuit determines, from a driving condition represented by the driving condition parameter detected by the detecting circuit, whether or not a power supply control to the heater should be executed The power supply control circuit supplies, during a predetermined period of time, the heater with an amount of power which is smaller than that to be supplied thereto in a normal driving condition when it is determined that the power supply control to the heater should be executed by the decision circuit so that a resistance value of said heater is controlled to a target resistance value

Accurate rendering technique based on colorimetric conception

Abstract: We have developed a rendering technique to generate realistic images meeting designers' requirements by strictly analyzing various physical phenomena relevant to the appearance of actual objects.We have numerically compared the results of the calculations using this technique with colorimetry values. As a result, both values were virtually equal, so we have been able to confirm the effectiveness of the established technique.Application of this technique to car design, which has not been realized to a large extent because of severe requests for realism, will make it possible to evaluate styles and colors on a graphics display before making a clay model.

Air-fuel ratio control device for internal combustion engine

Abstract: An air-fuel ratio control device for an internal combustion engine controls an air-fuel ratio to the lean side rather than to a stoichiometric air-fuel ratio by the use of a factor determined in accordance with inlet pipe pressure and engine speed. A throttle opening degree sensor is provided to detect a degree of throttle opening, and on the basis of the degree of throttle opening, the factor determined in accordance with the inlet pipe pressure and the engine speed is corrected in a high load range of the engine. Since the output of the throttle opening degree sensor in the high load range of the engine is more accurate than the output of a pressure sensor for detecting the inlet pipe pressure, the air-fuel ratio can be controlled accurately in the high load range by correcting the factor in accordance with the degree of throttle opening.

Suspension system for an engine and transmission assembly mounted transversely in a vehicle

Abstract: A suspension system includes an engine and transmission assembly mounted transversely in a vehicle and having a main axis of moment of inertia extending in a left and right direction of the vehicle, a single first mount located at a first end of the engine and transmission assembly and at least one additional mount located in the vicinity of an opposite second end of the assembly. The center of gravity of the assembly is located on a main axis of moment of inertia of the assembly extending between the first and second ends and is closer to the first end than to the second end. The mount is a bushing-type mount and is oriented so that the central axis of the mount extends parallel to the main axis of moment of inertia of the assembly so that the mount supports the assembly in a front and rear direction of the vehicle to suppress rocking of the assembly during acceleration and deceleration. The mount has a soft spring characteristic in an up and down direction so that high frequency engine vibrations are prevented from being transmitted to the vehicle body.

Apparatus for effecting coordinated position/force control for a manipulator

Abstract: A force and moment which a manipulator receives from an external environment is detected, and this detected value is multiplied by a gain inversely proportional to a virtual spring constant set by a tool coordinate system, and the product is further converted to a value in each joint coordinate system of the manipulator so as to determine a detection torque. A command value of force and moment is converted to a value in each joint coordinate value of the manipulator in the same way as described above, so as to determine a command torque. A difference between a position command value and a position detection value is multiplied by a virtual spring constant in each joint coordinate system of the manipulator obtained by converting the virtual spring constant, and a differential torque is obtained by converting the aforementioned difference to a force and moment corresponding to the difference. A targeted torque is determined by adding the command torque and the differential torque, and feedback control is effected such that the detected torque of each joint of the manipulator coincides with the targeted torque.