Abstract: A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.

Abstract: A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.

Abstract: Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.

Abstract: A data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data.

Abstract: Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.

Abstract: A constant velocity joint includes a joint body, a boot adapter and a rubber boot, a plurality of fasteners for attaching the boot adapter to the joint body, the fasteners being receivable in a plurality of holes in the boot adapter and a plurality of holes in the joint body, a propeller shaft extending from the boot adapter, and a load distributing washer located between the boot adapter and the plurality of fasteners. The load distributing washer includes an annular disk having a first side and a second side, the annular disk having a clearance shape through which a boot portion of the boot adapter may be inserted, a flange extending perpendicularly from an outer edge of the second side of the annular face, and a plurality of fastener holes for receiving the plurality of fasteners for fixedly attaching the boot adapter to the joint body.

Abstract: Provided is technology for more appropriately realizing a human physical-act using a robot. This position/force control device comprises: an act time information retaining means for retaining a time interval or a time stamp of an act, in addition to act information when the act is recorded; a control reference information generation means for generating, from the recorded act information, information to serve as a control reference when the act is replicated; a control timing determination means for determining, from the recorded act time information, a timing for outputting the control reference information when the act is replicated; and a position/force control means for replicating the act on the basis of the generated control reference information and the determined control timing.

Abstract: A terminal structure in which a groove extending in a predetermined direction is provided in a contact target section with which a tip portion of a contact pin comes in contact, and the tip portion slides on an edge of the groove along the groove by a pressing force occurred when the tip portion is butted against the contact target section so as to come in contact with the contact target section.

Abstract: A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

Abstract: Some embodiments are directed to a pinion shaft assembly of a power transfer unit for transferring torque from an output gear of a transmission to a driveline structure of a vehicle. The embodiments include a hollow shaft that includes an internal splined portion, a pinion gear connected to a first end of the hollow shaft, and a coupling member that includes a flange and a coupling extension extending from the flange. The coupling extension includes an external splined portion at a first end such that the coupling extension mounts coaxially within the hollow shaft. The internal splined portion of the hollow shaft meshes with the external spline portion of the coupling extension in a spline connection for coupled rotation of the hollow shaft and the coupling extension, and the flange is disposed external to the hollow shaft and configured to be connected to the driveline structure.

Abstract: A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

Abstract: A position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

Abstract: A terminal structure in which a groove extending in a predetermined direction is provided in a contact target section with which a tip portion of a contact pin comes in contact, and the tip portion slides on an edge of the groove along the groove by a pressing force occurred when the tip portion is butted against the contact target section so as to come in contact with the contact target section.

Abstract: A constant velocity joint includes a joint body, a boot adapter and a rubber boot, a plurality of fasteners for attaching the boot adapter to the joint body, the fasteners being receivable in a plurality of holes in the boot adapter and a plurality of holes in the joint body, a propeller shaft extending from the boot adapter, and a load distributing washer located between the boot adapter and the plurality of fasteners. The load distributing washer includes an annular disk having a first side and a second side, the annular disk having a clearance shape through which a boot portion of the boot adapter may be inserted, a flange extending perpendicularly from an outer edge of the second side of the annular face, and a plurality of fastener holes for receiving the plurality of fasteners for fixedly attaching the boot adapter to the joint body.

Abstract: An electronic apparatus of the present invention includes an apparatus body which is provided with an operation section, and a tray member which is slidably provided on the apparatus body and projects from a rear surface of the apparatus body on a side opposite to an operation side of the operation section so that a written announcement can be posted.

Abstract: Some embodiments are directed to a pinion shaft assembly of a power transfer unit for transferring torque from an output gear of a transmission to a driveline structure of a vehicle. The embodiments include a hollow shaft that includes an internal splined portion, a pinion gear connected to a first end of the hollow shaft, and a coupling member that includes a flange and a coupling extension extending from the flange. The coupling extension includes an external splined portion at a first end such that the coupling extension mounts coaxially within the hollow shaft. The internal splined portion of the hollow shaft meshes with the external spline portion of the coupling extension in a spline connection for coupled rotation of the hollow shaft and the coupling extension, and the flange is disposed external to the hollow shaft and configured to be connected to the driveline structure.

Abstract: A recording paper storage device of the present invention includes a recording paper storage section which stores recording paper wound in a roll shape, and a plurality of rollers which are arranged in a bottom portion of the recording paper storage section along an outer periphery of the recording paper wound in a roll shape and rotatably support the recording paper wound in a roll shape, in which at least one of the plurality of rollers is a movement regulation roller which regulates movement of the recording paper in a winding-off direction by winding-off of the recording paper wound in a roll shape in the recording paper storage section.

Abstract: An electronic apparatus of the present invention includes an apparatus body which is provided with an operation section, and a tray member which is slidably provided on the apparatus body and projects from a rear surface of the apparatus body on a side opposite to an operation side of the operation section so that a written announcement can be posted.

Abstract: Provided is a technique for more appropriately realizing human-like movement by a robot. This position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

Abstract: A transmission mechanism has an input gear, a first intermediate gear configured to engage with the input gear. A rotation shaft of the first intermediate gear is movable between a first position and a second position along an elongated hole formed on a supporting member. A first output gear is configured to engage with the first intermediate gear when the rotation shaft is located at the first position, and a second output gear configured to engage with the first intermediate gear when the rotation shaft is located at the second position. The rotation shaft can be located at a third position which is an intermediate position between the first position and the second position, the first intermediate gear engaging with both the first output gear and the second output gear when the rotation shaft is located at the third position.