Abstract: In a multiaxial robot, a path along which the end effector of the robot moves in the shortest time duration is generated. The robot includes a first link and a second link positioned closer to an end effector than the first link. Start and end points are specified, and velocity patterns are generated for joints driving the first and second links based on the specified start end points. The velocity patterns enable a movement of the second link to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to be moved from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point.

Abstract: A charging apparatus is used for charging a storage battery. This charging apparatus includes a body connected to a power source, a connector connected to the storage battery, an electric cable connecting between the body and the connector, a support member provided in the body, and a holding member provided in the body. The electric cable includes a held member at a predetermined position in an intermediate portion of the electric cable. The support member supports the connector. The holding member detachably holds the held member.

Abstract: A protective guide has a long shape and internally holds long members including at least one of flexible cables and ducts. The protective guide includes a flexible curved strip-shaped base and a plurality of flexible sectioning members. The base is made of a synthetic resin, formed into a long plate and has a longitudinal direction. The sectioning members are also made of a synthetic resin, permitted to uprise from both ends of the base and spaced apart from each other in the longitudinal direction, the both ends being opposed to each other in a direction perpendicular to the longitudinal direction. The sectioning members cooperatively define a space for accommodating the long members along the base. The base has a cross section inwardly curved toward the space, as viewed in the longitudinal direction.

Abstract: A protective guide internally holds long members including at least one of flexible cable and duct to move in harmonization with the movement needed by the long members. The guide includes a flexible long plate-shaped base made of a synthetic resin and having a longitudinal direction, flexible sectioning members made of a synthetic resin, and two brackets. The sectioning members uprise from ends of the base, spaced apart from each other by gaps in the longitudinal direction, the ends facing in a direction perpendicular to the longitudinal direction, and cooperatively define a space for accommodating the long members along the base. The brackets detachably connect ends of the base to fixed and movable members of a machine installing the guide. Each bracket has a first engaging means detachably engaging the bracket with the gaps and a second engaging means detachably connecting the bracket to the fixed or movable member.

Abstract: A protective guide internally holds long members including at least one of flexible cables and ducts. The protective guide includes a flexible curved strip-shaped base and plural flexible sectioning members. The base is made of a synthetic resin, formed into a long plate and has a longitudinal direction. The sectioning members are also made of a synthetic resin, permitted to uprise from both ends of the base and spaced apart from each other in the longitudinal direction, the both ends being opposed to each other in a direction perpendicular to the longitudinal direction. The sectioning members cooperatively define a space for accommodating the long members along the base. The base has a cross section inwardly curved toward the space, as viewed in the longitudinal direction. Each sectioning member has a ceiling opposed to the base, the ceiling being divided into two portions in a direction perpendicular to the longitudinal direction.