Abstract: A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle ?p), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.

Abstract: A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle ?P), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.

Abstract: In a method for judging the conformity or non-conformity of a capacitor from the charging characteristic at the time when a direct-current voltage is applied to the capacitor, a threshold current value I0 of the dielectric polarization component of the capacitor is determined in advance, an evaluation function n(t) is determined based on a logarithmic value of the difference between the measured charging current value m(t) of the capacitor and the threshold current value I0 or the difference between their logarithmic values, and the evaluation function n(t) is approximated to a quadratic curve. When the quadratic coefficient of the quadratic approximation equation has a plus sign the capacitor is judged to be non-conforming, and when the coefficient has a minus sign, the capacitor is conforming.

Abstract: Capacitor characteristics measurement apparatus and packing apparatus includes a turntable (1) intermittently driven at a constant pitch to supply capacitors (C) from a parts feeder (8) to a holder section (2) of the turntable (1) in a one-by-one manner. A capacitance measurement section (4) and an IR prediction section (5) are provided to determine whether each capacitor is acceptable or defective in quality based on the measured values obtainable from these sections (4, 5). The IR prediction section (5) applies a DC voltage to a capacitor while predicting the current value at termination of chargeup by use of its initial current value in the charge region of an insulation polarization component thereof upon application of the voltage thereto.

Abstract: In a method for judging the conformity or non-conformity of a capacitor from the charging characteristic at the time when a direct-current voltage is applied to the capacitor, a threshold current value I0 of the dielectric polarization component of the capacitor is determined in advance, an evaluation function n(t) is determined based on a logarithmic value of the difference between the measured charging current value m(t) of the capacitor and the threshold current value I0 or the difference between their logarithmic values, and the evaluation function n(t) is approximated to a quadratic curve. When the quadratic coefficient of the quadratic approximation equation has a plus sign the capacitor is judged to be non-conforming, and when the coefficient has a minus sign, the capacitor is conforming.

Abstract: Capacitor characteristics measurement apparatus and packing apparatus includes a turntable (1) intermittently driven at a constant pitch to supply capacitors (C) from a parts feeder (8) to a holder section (2) of the turntable (1) in a one-by-one manner. A capacitance measurement section (4) and an IR prediction section (5) are provided to determine whether each capacitor is acceptable or defective in quality based on the measured values obtainable from these sections (4, 5). The IR prediction section (5) applies a DC voltage to a capacitor while predicting the current value at termination of chargeup by use of its initial current value in the charge region of an insulation polarization component thereof upon application of the voltage thereto.

Abstract: A method for accurately measuring the insulation resistance of a capacitor while reducing time taken for the measurement. To this end, a current calculation equation is first obtained based on an equivalent circuit of a capacitor; then, the calculation equation is modified or corrected based on the degree of coincidence between an actually measured current value m(t) and a calculated current value i(t), the former being within a charge-up region of a dielectric polarization component upon initial application of a voltage; next, the current value at a time point of chargeup termination is predicted or estimated by use of this modified calculation equation.