Abstract: A wire electrical discharge machine includes: a detection unit configured to detect a contact state in which the wire electrode contacts the workpiece, and a contact release state in which the wire electrode that is in the contact state is separated from the workpiece; a vibration unit configured to, if the contact state is detected during the machining of the workpiece, stop relative movement of the wire electrode and vibrate the wire electrode about a stop position at which the relative movement of the wire electrode has been stopped; and a relative movement control unit configured to resume relative movement of the wire electrode if the contact release state is detected until a predetermined time elapses from when the contact state has been detected or until the number of times that the wire electrode is vibrated reaches a predetermined number of times.

Abstract: A robot motion planning technique for component assembly operations. Inputs to the motion planning technique include geometric models of the components being assembled, and initial and target configurations. The method begins at a tightly-constrained target or final configuration and plans in the direction of a loosely-constrained initial configuration. A randomly-sampled waypoint configuration is proposed, followed by a local search for feasible configurations which generates nodes that extend a path toward the initial configuration while sliding through the tightly-constrained region. The local search can be repeated multiple times for a given randomly-sampled configuration. When a completed path is found, the action sequence is trimmed to eliminate unnecessary extraneous motions in the loosely-constrained region. The disclosed method dramatically reduces the number of unproductive configurations evaluated and finds assembly solutions much faster in comparison to known tree-based motion planning methods.

Abstract: A numerical controller includes an extraction unit configured to extract at least one non-machining section from a tool path based on sensor information indicating a physical quantity detected by a sensor, a tool moving along the tool path, and the tool and a workpiece not coming into contact with each other in the non-machining section, a setting unit configured to set an end position of reverse movement in one non-machining section among the at least one non-machining section extracted by the extraction unit, the tool reversing along the tool path in the reverse movement, and a control unit configured to control the reverse movement.

Abstract: A lubricant container part 7 is provided to a robot arm drive unit 5 pertaining to a first arm 2, 2a and a second arm 3, 3a which displace relative to each other via a reduction mechanism 4, and a receiving member 9, 9a having a recess 10 forming a concave shape facing vertically upward is provided below the liquid level 8 of a lubricant 6 inside the lubricant container part 7, and through this configuration, even when time elapses after stopping of the robot, the lubricant can be extracted from the receiving member 9, 9a in a manner suitable for observing the state of iron powder included in the lubricant 6.

Abstract: A numerical control device used for a machine tool and configured to move a machining tool and a workpiece in the same direction on parallel respective drive shafts based on a machining program and control a relative positional relationship between the machining tool and the workpiece during the motion in the same direction, at least one of motion instructions for the machining tool and the workpiece being an instruction whose instruction value varies arbitrarily with time elapsed, includes: a machining program analysis unit that acquires the motion instructions for the machining tool and the workpiece from the machining program; a motion instruction generation unit that generates machining tool motion instruction data on the machining tool and workpiece motion instruction data on the workpiece based on the motion instructions; and an interpolation unit that generates machining tool interpolation data based on the machining tool motion instruction data and generates workpiece interpolation data based on the w

Abstract: Provided is a laser processing system with which correction of a control point can be carried out easily. This laser processing system is provided with a scanner capable of scanning a workpiece with laser light, a moving device for moving the scanner relative to the workpiece, and a scanner control device for controlling the scanner, wherein the scanner control device has a trajectory control unit for controlling the scanner such that the workpiece is irradiated with a control point correction trajectory for correcting a preset control point when the movement device is in a stopped state, and the control point correction trajectory has a prescribed length for specifying deviation of the laser light in the optical axis direction, and a prescribed shape for specifying the position of the control point and a direction of a coordinate system defined by the control point.

Abstract: An image processing device is provided with: a work target object detecting unit which employs first machine learning to analyze a first image captured using a first angle of view in such a way as to include the work target object, to detect the position of the work target object in the first image; a work status detecting unit which, on the basis of the detected position of the work target object, employs second machine learning to analyze a second image captured using a second angle of view narrower than the first angle of view in such a way as to include the work target object, to detect the work status of the work target object; and a work instruction creating unit which, on the basis of the detected work status, creates work instruction information indicating the content of a work instruction with respect to the work target object.

Abstract: A design support apparatus stores performance information of past processing of a workpiece, design information of a current workpiece, and allowance information including allowable shape information by which a change in dimension is permitted to a design shape. The respective information are stored for each element of the workpiece. The design support apparatus includes an extraction unit extracting the performance information including a shape of an element similar to a design shape of an element of the current workpiece. The design support apparatus includes an evaluation unit evaluating a processing technique of the elements included in the performance information. The design support apparatus includes a shape setting unit setting a shape of the element based on the processing technique selected by the evaluation unit and an allowable shape.

Abstract: A method for modularizing high dimensional neural networks into neural networks of lower input dimensions. The method is suited to generating full-DOF robot grasping actions based on images of parts to be picked. In one example, a first network encodes grasp positional dimensions and a second network encodes rotational dimensions. The first network is trained to predict a position at which a grasp quality is maximized for any value of the grasp rotations. The second network is trained to identify the maximum grasp quality while searching only at the position from the first network. Thus, the two networks collectively identify an optimal grasp, while each network's searching space is reduced. Many grasp positions and rotations can be evaluated in a search quantity of the sum of the evaluated positions and rotations, rather than the product. Dimensions may be separated in any suitable fashion, including three neural networks in some applications.

Abstract: To prevent a collision of a movable part without generating an alarm excessively in manual feed. A machine learning device includes: a state observation unit that acquires, as input data, manual feed state information including a manual feed pulse waveform at a time of a manual feed operation in any manual feed operation performed in a machine tool capable of manual feed; a label acquisition unit that acquires label data indicating a distance by which a movable part of the machine tool moved within a predetermined time immediately after the manual feed pulse waveform of the manual feed state information included in the input data; and a learning unit that executes supervised learning by using the input data acquired by the state observation unit and the label data acquired by the label acquisition unit, and generates a learned model.

Abstract: A robot system includes a robot including rotary joints to be rotated and driven about axes by a motor, and a control device that controls the motor based on external force torque about the axes that acts on each of the respective rotary joints, a force point to apply external force is preset to the robot, and the control device calculates distances from the axes of the rotary joints to the force point based on angles of the rotary joints of the robot, and adjusts and increases an operation amount to the motor as the calculated distances decrease.

Abstract: A motor controller includes a motor drive unit configured to drive and control a motor, an electrical discharge control unit configured to perform control in which regenerative power from the motor is consumed by a regenerative power discharge resistor, and a housing formed to accommodate the motor drive unit and the electrical discharge control unit, wherein at least a part of the housing is configured as the regenerative power discharge resistor.

Abstract: A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Abstract: A control device includes a storage unit that stores an authentication ledger, an authorization ledger, operation information, and operation recording target information. An authentication management unit, in a case of receiving authentication information from one information processing device, performs an authentication determination. An authorization unit determines whether to authorize the processing request of the one information processing device with the authorization ledger. An execution authorization unit, in a case in which the processing request authorized is a request for changing an operation state of the device, determines whether to authorize an execution of the processing request from the operation information, and, in a case of authorizing, causes the control execution unit to execute the processing request, and, in a case of not authorizing, transmits an error response to the one information processing device.

Abstract: Provided are: a numerical control device with which it is possible to easily perform a cutting process; a control method; and a processing program. The numerical control device comprises: a processing program analysis unit that analyzes commands that a machine tool can perform simultaneously, from one line of the processing program for commanding the machine tool before and after the cutting process; and a simultaneous operation control unit that uses the analyzed commands that can be performed simultaneously, combines the operations that the machine tool can perform simultaneously, and controls the commanded simultaneous operations.

Abstract: Provided are a numerical control device and a control method that enable simple true circular processing. The numerical control device is provided with: a true circular processing unit that, using an operative command, causes a cutting tool to perform true circular processing on a workpiece with a starting point set as a center; and a processing program calculation unit that, in order to give a command to a machining tool, calculates, as an operative command for the machining tool, a processing operation position from a single line processing program.

Abstract: A numerical controller includes an information storage unit that stores, in association with identification information assigned to a tool, coordinate conversion information used to convert a coordinate value in a rotating coordinate system into a coordinate value in a reference coordinate system, an information acquisition unit that acquires, from a machining program, a coordinate value that indicates a movement path of the tool to which the identification information is assigned, and a coordinate conversion unit that performs coordinate conversion of the coordinate value indicating the movement path acquired by the information acquisition unit, based on the coordinate conversion information stored in the information storage unit.

Abstract: A foreign matter detection device includes an ion sensor arranged in the interior of a feed axis motor. The ion sensor is formed so as to detect an ion contained in a cutting liquid. A machine controller judges whether an ion concentration is within a judgment range related to the cutting liquid based on output of the ion sensor, and judges that the cutting liquid has penetrated into the interior of the feed axis motor when the ion concentration is within the judgment range related to the cutting liquid.

Abstract: A robot in which two members constituting a joint shaft and supported in a relatively movable manner are each provided with a V-shaped groove having two sloped inner surfaces intersecting each other at a linear groove bottom extending orthogonally to a movement direction, or a V-shaped protrusion having two sloped outer surfaces intersecting each other at a linear ridge extending orthogonally to the movement direction. When the two members of the joint shaft are disposed in a predetermined operational position, the groove bottoms, the ridges, or the groove bottom and the ridge are disposed in alignment with each other.