Abstract: A currency deposit processor transfers currencies set in a deposit part one by one, discriminates the currencies by denominations, stores the currencies in denominations in a storage part without temporarily holding the currencies, and confirms the deposited currencies for each transaction. A control unit is provided that, when one storage part reaches its maximum capacity with both currencies confirmed up to a previous deposit transaction and currencies unconfirmed in a current deposit transaction and a failure occurs after the filling-up currencies are removed, performs a special control, in which data on the currencies unconfirmed in the current deposit transaction and included in the filling-up currencies is calculated as a partial confirmation, and the data on the currencies calculated as the partial confirmation is added and reflected at a time of another deposit transaction after a fault recovery process.

Abstract: A method for controlling an articulated robot is a method for controlling an articulated robot with L (L is a natural number of seven or more) joints, wherein a controller receives a selected drive mode among a plurality of drive modes, wherein at least one joint of the L joints is associated, as a drive target joint, with each of the plurality of drive modes, executes calculation processing including an inverse kinematics calculation to calculate an amount of displacement of the drive target joint identified based on the selected drive mode from among the L joints, calculates, based on the calculation processing executed, a joint value relating to a state of each of the L joints such that the articulated robot is in a target state, and controls an operation of the articulated robot based on the joint value calculated for each of the L joints.

Abstract: An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.

Abstract: An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.

Abstract: There is provided a base machine including a base machine feed path that conveys a paper sheet, and a validator identifying the paper sheet conveyed by the base machine feed path; an expansion unit including an extension feed path extending from the base machine feed path, a branching feed path branching from the extension feed path, and a plurality of stacking portions that are connected to the branching feed path and stack the paper sheet identified by the validator; and a control portion that, when a conveyance abnormality occur, continues conveyance operation of at least one of the extension feed path and the branching feed path without immediately stopping the conveyance operation and conveys the paper sheet to a predetermined stacking portion that is any of the plurality of stacking portions, in accordance with a location where the conveyance abnormality occurred and a type of the conveyance abnormality.

Abstract: A paper sheet handling apparatus includes an accumulation and storage unit that accumulates and stores paper sheets conveyed by the conveyance unit while aligning the paper sheets, the accumulation and storage unit having an accumulation unit that accumulates the paper sheets so that a first direction which is one of a vertical width direction and a horizontal width direction and a second direction which is the other of the vertical width direction and the horizontal width direction are oriented in predetermined directions, a first alignment unit that is movable between a first retracted position spaced apart from the paper sheets and a first alignment position in contact with one end edge of the paper sheets positioned in the first direction; and a second alignment unit that is movable between a second retracted position spaced apart from the paper sheets and a second alignment position in contact with other end edge of the paper sheets positioned in the first direction, with a control unit that causes the p

Abstract: A coin processing device includes: a feed belt that normally rotates in contact with the upper side of a coin to convey the coin to a conveyance passage extending from an inlet-side passage portion to an outlet-side passage portion; a conveyance motor that normally rotates the feed belt during the normal rotation; a detection unit that detects the coin passing through a position determined in advance in the conveyance passage; and a control unit that switches the conveyance motor from a first rotation state where the conveyance motor normally rotates at a first rotation speed to a second rotation state where the conveyance motor normally rotates at a second rotation speed slower than the first rotation speed, in response to detection of the coin by the detection unit, and then rotates the conveyance motor.