Abstract: A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.

Abstract: A control method includes an acquiring step for acquiring information concerning a plurality of end effectors and acquiring an operation program, and a driving step for driving a robot arm based on the operation program acquired in the acquiring step, wherein in the driving step, speed of a speed estimation target part is calculated, for each of the plurality of end effectors based on a detection result of the detecting section, and when it is determined that, in a result of the calculation, speed of the speed estimation target part moving at highest speed when the robot arm is driven by the operation program is equal to or higher than predetermined speed, operating speed of the robot arm is reduced.

Abstract: A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

Abstract: A dynamo-electric machine includes a stator, a rotor disposed in the stator, a bottomed tubular case that accommodates the stator, an end cover mounted on an open end of the case, and a circuit substrate that controls driving of the dynamo-electric machine. The stator includes a core having portions that protrude toward a center of the stator, insulators mounted on the stator core, and a coil wound around each of the protruding portions with the insulators therebetween. The circuit substrate is disposed inward of an outer end of the case and is disposed between the stator and the end cover, and includes a first insulation sheet disposed between the circuit substrate and the stator to insulate the circuit substrate and the coil; and a second insulation sheet disposed between the circuit substrate and the end cover to insulate the circuit substrate and the end cover.

Abstract: A method of supporting creation of a program for supporting creation of a program for work by a robot, includes detecting an operation by a user on an input device, determining a type of the work by the operation to select the type, displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence is not allowed on a display device, and converting the dedicated object into a versatile object showing the motion for which a change of the sequence is allowed by the operation to convert the dedicated object.

Abstract: A method for supporting creation of a program for supporting creation of a program for a robot that performs work on an object by force control for controlling a force acting on the object to be a target force, includes displaying a mark having an aspect indicating the target force on a display device, changing the aspect of the mark according to an operation on an input device by a user, and presenting a parameter in the force control corresponding to the aspect of the mark to the user.

Abstract: There is provided a control method for a robot including a robot arm, the control method including a first step in which the robot arm grips a first target object and performs work for assembling the first target object and a second target object while changing a position or a posture of the first target object, a second step for setting, based on information concerning the position or the posture of the first target object during the work in the first step, a determination reference serving as a reference for starting the change of the position or the posture of the first target object or ending the change of the position or the posture of the first target object.

Abstract: There is provided a display control method for controlling a display section configured to display a display image including a virtual robot, which is a simulation model of a robot including a robot arm that performs work according to force control, the display control method including a receiving step for receiving information concerning force control parameters including first information concerning a target force, which is a target of force received by the robot arm during the work, and a display step for displaying, in the display image, the virtual robot, a first indicator indicating the first information, and a second indicator indicating second information concerning force applied to the robot arm during the work, the virtual robot, the first indicator, and the second indicator temporally overlapping one another and being distinguished from one another.

Abstract: A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.

Abstract: In a control method for a robot including a manipulator and a force detector that detects an external force acting on the manipulator on three detection axes orthogonal to one another, a direction of the external force is detected by the force detector, and a degree of freedom of motion of a tool center point set for the manipulator according to the external force is limited based on the direction of the external force.

Abstract: A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

Abstract: A control method includes an input step for inputting information concerning a setting angle of a robot arm of a robot including the robot arm and a force detecting section configured to detect force applied to the robot arm and a calculating step for calculating a proper force detection parameter of the force detecting section at the setting angle of the robot arm based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle of the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle of the robot arm.

Abstract: A navigation device that is mounted in a movable body of the present invention includes a first storing portion that stores a first navigation data; an acquiring portion that acquires a second navigation data from an external second storing portion; a movable body location detecting portion that detects the location of the movable body; a navigation operation executing portion that executes a predetermined navigation operation based on the location of the movable body that is detected by the movable body location detecting portion, and the first navigation data; and an updating portion that updates the first navigation data with the second navigation data.

Abstract: A transport system of this disclosure includes a transporter for forming a plurality of transport paths from a transport source to a transport destination and transporting a work via a transport path selected from the plurality of transport paths, a controller for controlling the transport, and a reader for, when the work has arrived at a branch point in the transport path, reading out, from a storage medium, transport path information representing a transport direction of the work at the branch point in the transport path, the storage medium being provided on the work and storing the transport path information. The controller controls the transport to transport the work in the transport direction of the work at the branch point represented by the transport path information read out by the reader.

Abstract: A navigation device that is mounted in a movable body of the present invention includes a first storing portion that stores a first navigation data; an acquiring portion that acquires a second navigation data from an external second storing portion; a movable body location detecting portion that detects the location of the movable body; a navigation operation executing portion that executes a predetermined navigation operation based on the location of the movable body that is detected by the movable body location detecting portion, and the first navigation data; and an updating portion that updates the first navigation data with the second navigation data.

Abstract: An information retrieval device includes an input operation unit that can input a character through an operation of a user, a database that stores data of a plurality of character strings beforehand, an information extraction unit that checks a character string inputted by the input operation unit with the data of the character strings stored in the database, and extracts the data of a character string corresponding to the character string inputted by the input operation unit from the database, and a display unit that displays the character string extracted by the information extraction unit, wherein the information extraction unit performs the check by replacing each character in at least one of the character string inputted by the input operation unit and the character strings stored in the database with a character contained in a classified character group predetermined in compliance with an attribute of each character.

Abstract: An information retrieving apparatus for retrieving predetermined information according to an input of text information, including an input operation section which selects characters from a defined predetermined character list and performs input instructions, a display section which displays the character list, and input characters which have been instructed by the input operation section, a candidate definition processing section 10, and a candidate display processing section 10. The candidate definition processing section 10 retrieves input candidates containing the input instructed characters, and extracts candidate characters, and temporarily allocates the candidate characters to display areas 29 in the display section 15 of characters that do not match the candidate characters, so that they can be selected using the input operation section.

Abstract: A transport system of this invention includes a transport means for forming a plurality of transport paths from a transport source to a transport destination and transporting a work via a transport path selected from the plurality of transport paths, a control means for controlling the transport means, and a read means for, when the work has arrived at a branch point in the transport path, reading out, from a storage medium, transport path information representing a transport direction of the work at the branch point in the transport path, the storage medium being provided on the work and storing the transport path information. The control means controls the transport means to transport the work in the transport direction of the work at the branch point represented by the transport path information read out by the read means.

Abstract: A navigation apparatus includes: an input operating unit; a map image storage member; a current position detecting member; a destination determination member; a visiting order determination member which determines a visiting order of each of the plurality of destinations in an revisable manner; a display control member which displays on the display member the map image on which the current position of the user and positions of all of the plurality of destinations are displayed; and a route calculation member which calculates a route from the current position by way of all of the plurality of destinations according to the visiting orders.

Abstract: A navigation system including: a map image storage device which stores a map image having a polygon image being correlated to a facility name; a facility information storage device which stores the facility name and a facility location and also correlates the facility name to the facility location; a display device which displays the map image and a pointing image which is movable; a positioning device which specifies a position on the map image with the pointing image; and a destination setting device which sets a destination based on the position specified by the positioning device, wherein in a case where an arbitrary position on the polygon image is specified by the positioning device, the destination setting device retrieves the facility name correlated to the polygon image, retrieves the facility location correlated to the retrieved facility name, and sets the destination to the retrieved facility location.