Abstract: A position detecting apparatus provided with a lighting unit 13 for lighting an object 14 to be detected, an image-formation unit 15 for imaging the object 14, a detecting unit 16 comprising a plurality of photoelectric converters disposed on the image-formation plane to detect brightness of the image and disposed two-dimensionally, a scanning unit 17 for allowing the relative position of the image to the photoelectric converters to move one-dimensionally in the image-formation plane, a selecting unit 19 for selecting the plurality of detected signals of the detecting unit, and a decision means 18 for deciding the one- and two-dimensional positions of the center, corner and edge of the object by means of the detected signal of the detecting unit, a selected signal of the selecting unit and a scanning signal of the scanning unit, so that the images formed are moved slantwise with respect to the plurality of photoelectric converters disposed two-dimensionally and the selecting unit selects the detected signals

Abstract: An ultrasonic sector scanner includes first and second magnetizable stators spaced on a longitudinal axis. First and second rotors are provided in the gaps between the end faces of the first and second stators, respectively. The rotors have tapered surfaces spaced from the end faces of the stators to form gaps therebetween. The gaps between the first rotor and the end face of the first stator decrease as the rotor rotates in a first direction. The gaps between the second rotor and the end faces of the second stator decrease as the rotors rotate in a second direction opposite the first direction. An ultrasonic transducer is connected to the rotors and arranged to be rotatable with the rotors. A servo-control system is provided to cause the rotor/transducer assembly to rotate according to a prescribed reference signal.The ultrasonic sector scanner has a cover assembly in which a flexible membrane is provided with ribs which engage grooves in the wall of the housing.

Abstract: In a speed correcting device for use in a speed command system such as a numerical controller or a tracer controller in which a movable machine part is driven at a speed corresponding to a speed command value, an error in the moving speed of the movable machine part is removed by detecting the moving speed corresponding to the speed command value being zero and by adding to the speed command value a moving speed correction amount that cancels the detected moving speed.

Abstract: A variable pneumatic output device for use with ophthmalic micro-surgical instruments including a reversible servo motor which operates in response to instructions from an electronic control circuit. The rotatable drive shaft of the servo motor is operatively connected to the adjustable level control of a precision pressure regulator which operates between a fully open level and a fully closed level. The pressure regulator is operatively connected between a pressurized air source and the pneumatically driven micro-surgical instrument and according to the instructions of the electronic control circuitry, the servo motor, through the connecting drive to the regulator, adjusts the level of pneumatic output to the surgical instrument.

Abstract: The present invention concerns a method for improving the dynamic converter drive for a direct current elevator motor, in which the said motor is controlled by adjusting the magnetization of the generator linked to the lifting motor, such adjustment being achieved by means of a power electronics stage controlled by the elevator speed control system, using at least elevator speed and motor current consumption (or other current information proportional thereto) as feedback parameters.

Abstract: A position/speed detection method and apparatus employing an encoder mounted on the rotary shaft of a motor in order to control the position and speed, wherein the coarse position and fine position are simultaneously detected by an encoder pulse and an encoder original signal, respectively and the detected results are combined to detect the position and speed of the motor with high precision.

Abstract: The present invention is intended to make it possible to enlarge or reduce, as desired, a preset tracing range in a tracer control unit by actuation of a control switch (36) externally provided. To this end, according to the present invention, the tracer control unit is arranged so that it ignores a sequence changeover during actuation, that is, the ON state of the control switch (36) for inputting a sequence changeover signal and executes a sequence changeover which has been or is to be ignored when the operation of the control switch (36) is released, that is, turned OFF.

Abstract: A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

Abstract: A datum is disclosed for use as a coordinate reference in a numerically controlled machine tool. The datum which is active, consists of an elongated member, typically one half wavelength in length, supported at its center (and antinode) by a plate, and including electromechanical transducers for exciting resonance in a desired fundamental longitudinal mode. The datum is operated by an operational amplifier having the transducers connected in the amplifier feedback path. Assurance against the excitation of undesired modes is achieved by limiting the gain of the operational amplifier throughout the response band of the transducers, by use of an inductor for resonating the input capacitance of the driving transducer at the frequency of the desired mode and by gain bandwidth limits of the operational amplifier. The datum is active at an ultrasonic frequency suited to touch sensing and thus produces a response in a touch sensing system when the cutter is touched to the datum.

Abstract: A servo power amplifier for driving multiple DC motors (10, 12) employs a load equalization circuit (36) which allows reduction of the overall number of circuit components required to drive the motors. The load equalization circuit is coupled in parallel with each of the motor drive circuits (14, 16) across the power source (46, 48) and controls an inductive load (84) which temporarily stores energy that is returned to the power source from the motors. The equalization circuit is pulse width modulated in accordance with a control signal which is derived by sensing the current flowing through the inductive load and using a sensing circuit (44) to determine the difference in the magnitude of the positive and negative voltages supplied by the power source. The equalization control circuit and the motor drive circuits are each T-configured and employ no more than two switching elements for controlling current flow.

Abstract: A plurality of spaced drive means are disposed along a conveyance path for running a carriage along the conveyance path by a forward or reverse propelling force created by the drive means. A main power source and an auxiliary power source are provided for switching a power source from the main power source to the auxiliary power source when the former becomes faulty for running and stopping the carriage at a selected one of the drive means for the purposes of preventing the carriage from stopping at an intermediate point between adjacent drive means.

Abstract: A self-traveling robot system capable of being automatically positioned with respect to a workpiece including a robot for work on a continuous object, a truck for moving the robot along the continuous object, a distance detection mechanism mounted to the robot for detecting a distance between the robot and the continuous object, a deviation detecting circuit for comparing the distance as detected by the distance detection mechanism with a predetermined value and detecting a deviation between the distance and the predetermined value, and a travel path correcting mechanism for correcting an advance direction of the truck according to the deviation. A method of positioning the self-traveling robot system with respect to the workpiece is also disclosed, which includes the steps of (a) driving a robot which has stopped at a working position and detecting distances between a swiveling table and two measuring points on the workpiece; (b) calculating a tilt angle (.theta.

Abstract: Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device.An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils.

Abstract: The field voltage of a wind-driven alternator or generator is automatically controlled in response to the output voltage developed in the load with the objective of always maintaining the maximum power output. In this manner, the tip-speed/wind-speed ratio is indirectly maintained at an optimum constant value, thereby optimizing the performance of the machine without the need to continuously and precisely monitor the wind speed and rotational speed.

Abstract: A controller for a tracking system which tracks the sun. The controller has a rotatable disc with a light transmitting portion and an opaque portion. The solar radiation, transmitted through the disc when rotating, falls on optically sensitive sensor detecting the light intensity. Two optical emitter/receiver pairs which are oriented with respect to two coordinate axes at the periphery of the disc detect the position of the light spot on it. The solar radiation is directed by the rotating disc to generate two signals which are related to the two coordinate axes and the tracking error of the tracking system. The signals energize motors in the tracking system whereby the sun is tracked.

Abstract: A system and method for controlling an industrial robot wherein an adjustable optional region of a robot movement which differs from an inherent movable region defining the outer limits of robot movement and which is contained within the inherent movable region, is set by loading numerical data representing the shape of a workpiece to be handled by the robot, into a controller for the robot. During operation, the objective of the robot is controlled by the numerical data and thereby limited in movement to the optional region within said inherent movable region. The operational region is set in a rectangular coordinate system different from the operating coordinate system inherent to the robot, thereby defining a robot movement space which can be visualized and readily discerned by an operator.

Abstract: In a servo control circuit for driving a servomotor at a commanded velocity and torque, there are provided a servomotor voltage supply circuit, a servomotor drive current sensing circuit, a servomotor rotation sensor, a single counter for counting rotation sensor pulses, a processor for effecting current loop control based on an applied torque command input, as well as voltage output control of the voltage supply circuit, and a main processor for producing the torque command as an output. A pulse count value during a period T.sub.1 for current loop control is accumulated and the result is utilized by the main processor as position information over for a period T.sub.2. This allows a counter for position information input to be deleted, thereby providing advantages in terms of construction and economy. The invention is applicable to the control of all types of DC and AC servomotors.

Abstract: This invention relates to a cellular type robot apparatus consisting of a plurality of robot cells each having intelligence, wherein each robot cell controls its own operation on the basis of information exchange with adjacent robot cells. The operations of the robot cells are as a whole coordinated, and each robot cell can be controlled without the necessity of change of hard- and soft-wares even when one or more of the robot cells are out of order or when the robot needs to be expanded. Each robot cell can be provided so that the robot can be increased or decreased in a building block arrangement. More definitely, each robot cell has arms corresponding to hands and feet, and is able to control its own operation. As the robot cells are connected and combined through transmission routes so as to be able to exchange information, they can operate cooperatively as a group to perform a manpulative action.

Abstract: Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Abstract: At the rotor of a synchronous linear stator motor, a stray flux measuring device (3', 3") measures the angle .theta. of the stator current distribution .phi. and a speed-measuring device (4) measures a speed containing faults. At the stator, an angle .theta.* for the impressed stator current distribution is taken off and the difference of the two angles (.theta.*-.theta.) indicating the stator current distribution is added as a correction signal to the speed (adder 5), from which the pole position (R) is determined by integration. If the pole position R is used to control the frequency of the stator current thereby, a control loop for the angle difference .theta.*-.theta. is produced which regulates the measured pole position R to the actual pole position.