Abstract: In accordance with levels of skillfulness of operators, guidance of a robot teaching apparatus is automatically changed for facilitated use by beginners and skilled operators. Teaching is performed through an interactive procedure with the aid of a display of message for manipulation guidance and a menu for input selection. A key manipulation path is automatically determined on the basis of various experience factors. For a skilled operator, operation up to generation of a final function display is executed in an automated manner.

Abstract: An automated manufacture line includes a host controller device which sets individual control conditions and a plurality of automatic working devices which are connected to the host controller device and perform their automatic works.

Abstract: A neural network system capable of performing integrated processing of a plurality of information includes a feature extractor group for extracting a plurality of learning feature data from learning data in a learning mode and a plurality of object feature data from object data to be processed in an execution mode, and an information processing unit for learning features of the learning data, based on the plurality of learning feature data from the feature extractor group and corresponding teacher data in the learning mode, and determining final learning result data from the plurality of object feature data from the feature extractor group in accordance with the learning result, including a logic representing relation between the plurality of object feature data in the execution mode.

Abstract: A motor driving control apparatus having a function for performing an individual test operation of a servomotor driving control apparatus or an inverter apparatus by generating test operation command in the control apparatus in place of a command from an external controller, whereby both a function check and a performance check can be performed to attain an improvement in reliability and case of operation.

Abstract: A coordinate input apparatus responsive to physical movement of an operation section for moving and displaying a cursor displayed on a display screen at a corresponding coordinate position on the display screen has a unit for deciding a ratio of cursor movement which detects the operation speed of the operation section and decides the ratio of cursor movement on the display screen for a predetermined amount of the movement of the operation section based on the operation speed. A display unit moves and displays the cursor on the display screen corresponding to the amount of movement of the operation section based on the ratio of cursor movement thus decided. As a result, even if the amount of movement of the operation section is constant, when the operation section is moved at a high speed, the cursor moves a long distance; whereas, when the operation section is moved at a low speed, the cursor moves a short distance.

Abstract: A method and a system for controlling a welding robot is disclosed, in which at the time of restarting the welding operation after a provisional welding stoppage which may occur during a series of welding operation by a robot, the welding operation is restarted from a position receded along the welding line thus far followed. A memory unit sequentially holds the position data along the welding line during the welding operation. The position receded along the welding line is calculated in accordance with the position data held in the memory unit during the provisional welding operation stoppage.

Abstract: A method of controlling the movements of a robot having a plurality of degrees of freedom includes expressing the attitudes of a hand or a working tool fitted to the arm end of the robot, the by the use of base vectors of a rectangular coordinate system fixed to the hand or the working tool. The attitudes are given as coordinate components related to a rectangular coordinate system which is fixed to the pedestal of the robot and which serves as reference. Interpolation and movement control of the robot is performed on the basis of the coordinate components. By performing control, based on the coordinate components real-time calculation processings is reduced highly accurate robot movement which is smooth in terms of both time and space is accomplished.

Abstract: A support method of and apparatus for making/editing a formatted document including a plurality types of formatted documents having a mutual relation therebetween. An input device inputs beforehand a relation between document forms before a formatted document is made, the inputted relation is stored in a storage device, and a relation between formatted documents is automatically generated by referring to the relation stored in the storage device.

Abstract: Character recognition method and system in which a character indicated in a printed, stamped, carved or other form is two-dimensionally imaged and stored as image data and the stored image data is subjected to an image processing to recognize the character. The recognition of the character is performed in such a manner that each time the comparison of plural kinds of feature vectors extracted from the character to be recognized and a dictionary vector of each candidate character in a group of candidate characters preliminarily prepared is made for one of the plural kinds of feature vectors, a candidate character having its dictionary vector away from the extracted feature vector by a distance not smaller than a predetermined value is excluded from the candidate character group. The dictionary vector for each candidate character is defined as an average vector for a variety of fonts.

Abstract: A method and apparatus for controlling the tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element.

Abstract: After work is performed according to certain working parameters by an automatic work processing apparatus, the just finished work undergoes an imaging operation by use of an imaging apparatus. Outputs from the imaging apparatus are converted into binary values to obtain a line image, which is then analyzed to evaluate the finished work by comparing the binary values to reference values. If the finished work is not satisfactory, then a deviation between the binary and reference values occurs. A control system receives the deviation data and automatically changes some of the working parameters thereby attaining a satisfactory quality of the work.

Abstract: There is provided an operation control method for an industrial robot having a plurality of joints, cooperation of these joints allowing a hand or an end effector attached to the hand to perform necessary operation comprising the steps of representing a position and orientation of a hand effecting point relatively determined with respect to the hand or the end effector by a generalized coordinate system suitable for describing the task, deriving respective displacement values of the plurality of joints corresponding to the position and orientation information by using means such as computation, and making the hand effecting point perform necessary operation. For at least one joint among the plurality of joints, displacement is approximately derived by using approximate solution.

Abstract: An automatic welding method and an automatic welder in which welding conditions are automatically set in compliance with the position or posture of a welding torch relative to a work piece and the welding path. The direction of gravity is added as one of parameters necessary for automatic setting of the welding conditions and the welding condtions are controlled to comply with changes in the welding torch position relative to the gravitational direction and the welding path, thereby ensuring that the automatic welder can be realized which can be installed to face to any directions and that work pieces having various profiled and welding paths can be welded automatically with high quality.

Abstract: In a robot, an object to be controlled, e.g., a working tool mounted on a robot wrist is purposively moved in accordance with data taught in advance. In case the object is encountered with a shaping or mounting error, a correction is accordingly required. This requirement makes it necessary to generate a desired error vector so that the robot may be moved while correcting the taught data in accordance with that vector. The object can be moved in a manual mode with its location being fixed while changing its position. In case, however, the object is accompanied by the shaping error or the like, not only the position but the location is changed following the position changing operation. The error vector can be arithmetically determined from data concerning such locational change.

Abstract: A welding expectation path is taught beforehand, and an operation for striking an electric arc is executed at a point on the path. If the electric arc does not appear, the operation for striking the electric arc is executed at a different point on the path. When the electric arc has appeared, a welding torch is once returned to a welding start expectation point while the electric arc is held, and it performs welding from the welding start expectation point toward a welding end expectation point.

Abstract: When actuating again an induction motor rotating inertially by applying power to the induction motor from an inverter capable of changing both of its output frequency and output voltage, the power is once supplied to the induction motor to increase the residual voltage if the residual voltage of the induction motor is not sufficient, and the frequency of an initial impressed voltage that is in agreement with the rotating speed of the induction motor is determined.

Abstract: The position of a part-mounting section on a circuit board may be displaced from a reference point. It is therefore necessary to detect the actual position of each part-mounting section before an electronic part is mounted on it. Each circuit board has a plurality of part-mounting sections located in close proximity to each other. The positions of a predetermined number of the part-mounting sections are collectively detected continuously, followed by mounting the electronic parts on the part-mounting sections, thereby shortening the time required of the mounting work.

Abstract: A system consisting of a motor that drives a load, an analog signal generator that outputs an analog signal which increases as the motor is accelerated, a speed commander that determines a motor speed and commands the motor to operate at the determined speed, and an energizing circuit that receives signal representing difference between the output from the speed commander and the output from the analog signal generator and that energizes the motor so as to operate at the speed in accordance with the signal for the difference is provided with a pulse generator that outputs a pulse corresponding to the current motor speed and with a control circuit that controls the signal for the difference in such way that when the motor is operated at a low speed at which the interval of pulses output from the pulse generator becomes long the signals for the difference issued during a pulse interval sequentially increase.

Abstract: When actuating again in induction motor rotating inertially by applying power to the induction motor from an inverter capable of changing both of its output frequency and output voltage, the power is once supplied to the induction motor to increase the residual voltage if the residual voltage of the induction motor is not sufficient, and the frequency of an initial impressed voltage that is in agreement with the rotating speed of the induction motor is determined.