Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.

Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.

Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

Abstract: A robot control device controls the operation of a robot including a trunk that is rotatable around an axis, first and second robot arms that are provided at the trunk and rotatable with respect to the trunk, and first, second, and third inertial sensors. In an operation in which the second robot arm is brought into a stationary state and the first robot arm is rotated around the axis from the stationary state and moved to a target position, the robot control device makes B/A<0.27 satisfied when a maximum value of the amplitude of the angular velocity of the trunk around the axis before the first robot arm reaches the target position is defined as A, and a maximum value of the amplitude of the angular velocity of the trunk around the axis after the first robot arm has reached the target position first is defined as B.

Abstract: A robot includes a base; a trunk linked to the base; a multi-joint robot arm rotatably linked to the trunk; and an elevating mechanism capable of bringing the trunk to a low position and a high position higher than the low position, and a time taken when a tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the high position is longer than a time taken when the tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the low position.

Abstract: An image forming apparatus of the invention includes; a cleaning member that collects liquid developer by cleaning a developer carrier; a first transporting path that moves the liquid developer collected by the cleaning member; an oscillating member that applies vibration to the liquid developer transported from the first transporting path; a developer supply unit that stores the liquid developer transported from a first transporting mechanism; a second transporting mechanism that includes a second transporting path that transports the liquid developer stored in the developer supply unit to a developer storage in a developing unit; and a control unit that adjusts a toner charge current applied to the toner charging unit and controls vibration applied to the oscillating member on the basis of the adjusted toner charge current.

Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.

Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: Developer is recovered by a development unit, a first squeeze unit, a second squeeze unit, and a photoreceptor cleaning unit, but the developer recovered by the development unit or the first squeeze unit has a relatively high concentration, and is therefore returned to a stirring tank for reuse. The developer recovered by the second squeeze unit or the photoreceptor cleaning unit has a relatively low concentration, and is therefore accumulated in a buffer tank separate from the stirring tank to prevent the toner concentration in the stirring tank from decreasing.

Abstract: A concentration detection apparatus includes: a light-emitting element that emits light; a light-emitting-element holding unit that holds the light-emitting element; a light-receiving element that receives light emitted from the light-emitting element; a light-receiving-element holding unit that holds the light-receiving element and is provided opposite to the light-emitting-element holding unit with a gap therebetween; a moving unit that can move through or at the gap between the light-emitting-element holding unit and the light-receiving-element holding unit; and a gap adjusting unit that adjusts a value of the gap as a distance between the light-emitting-element holding unit and the light-receiving-element holding unit.

Abstract: In order to improve the precision of liquid level computation in an accommodating part for accommodating a developer, the image forming device of the invention includes an accommodating part for accommodating a developer including a toner and a carrier, a developer container into which is supplied developer from the accommodating part, an electrostatic capacity detector for detecting electrostatic capacity, the electrostatic capacity detector having a first electrode provided to the accommodating part, a second electrode provided to the accommodating part, and a counter electrode opposite the first electrode and the second electrode, interposed by the developer; and a controller for stopping supply of developer from the accommodating part to the developer container based on a first electrostatic capacity detected by the first electrode and the counter electrode of the electrostatic capacity detector, and a second electrostatic capacity detected by the second electrode and the counter electrode.

Abstract: In order to provide a developer reservoir that allows the liquid level to be accurately detected and with which the device does not end up being bulkier, the developer reservoir of the present invention includes a holder for holding a liquid developer containing toner and a carrier, an electrostatic capacitance type of liquid level sensor that detects electrostatic capacitance and has a first sensor electrode provided to the holder and a second sensor electrode that is opposite the first sensor electrode with liquid developer in between, and a calculator for calculating the level of the liquid developer held in the holder on the basis of the electrostatic capacitance detected by the electrostatic capacitance type of liquid level sensor.

Abstract: In a developing device which supplies a liquid developer to a developer holder roller using a supply member and performs development using the liquid developer, and an image forming apparatus including the developing device, a developer holder cleaning unit which cleans the developer holder roller and recovers the liquid developer in order to prevent the liquid developer after development from being adhered to the supply member, a supply member cleaning unit which cleans the supply member and recovers the liquid developer, a recovery path member which is disposed above the supply member in a vertical direction and receives the liquid developer recovered by the developer holder cleaning unit, and a recovery unit which is disposed above the recovery path member in the vertical direction and stores the liquid developer moved to the recovery path member and the liquid developer recovered by the supply member cleaning unit are provided.

Abstract: A collecting device according to the invention includes: a collecting unit that collects a liquid developer containing toner and a carrier liquid; a collected-liquid storage that stores the liquid developer collected by the collecting unit; a first transporting path that transports the liquid developer stored in the collected-liquid storage; a second transporting path that transports the liquid developer stored in the collected-liquid storage; and a control unit that switches transportation of the liquid developer stored in the collected-liquid storage to the first transporting path or the second transporting path.