Abstract: In a joint assembly for moving a free end relative to a reference end like a human arm, first and second axle members have first and second axes associated with the reference and the free ends, respectively, and are coupled to each other by an axis end plane oblique to the first and the second axes. A coupling member, such as a universal joint, is coupled to the first and the second axle members and to the reference end. The first and the second axle members are rotated about the first and the second axes, respectively, to move the free end along a spherical surface, with the free end prohibited from being twisted. The oblique axis end plane may be provided by a pair of plate members or by a pair of shells. Alternatively, the axis end plane may be given by a stator and a rotor of a single motor. A motion of the free end is controlled by angles of rotation of the first and the second axle members.

Abstract: A circuit for a function generator, or resolver, employing large air gaps between its stator and rotor and between primary and secondary coils of an automatic transformer supplying its excitation signal is disclosed. The circuit operates to insure that the rotor signal is of sufficient voltage to convey the angular position of the rotor. The voltage of the rotor signal is otherwise subject to variations which are temperature dependent. The function generator and circuit of the present invention allows the use of economic function generators without excess drain on associated power supplies. Frequency of the excitation signal is established by a capacitor in parallel with the excitation terminals. A negative feedback path about an excitation amplifier include a nonlinear member comprising antiparallel diodes. The excitation amplifier determines the amplitude of the excitation signal and hence the amplitude of the rotor signal conveying angular rotor position information.

Abstract: In a control system for a robot having a servo motor driving an operation axis, position error detecting means, detects an error of the actual position with reference to a desired instantaneous position, and a drive circuit receives the position error for supplying a current to the servo motor to reduce the position error. The control system is characterized by means for limiting the current supplied from the drive circuit to the servo motor thereby to limit the torque of the servo motor when the servo motor is driving the operation axis in a first mode in which movement of the operation axis is subject to undesired obstruction.

Abstract: A method of returning a movable machine element having a flat dog to a zero point includes advancing the movable machine element in the direction of the flat dog, stopping the movable machine element after a changeover signal (S.sub.D) produced by the flat dog is detected, reversing the direction of the movable machine element, moving the movable machine element a first predetermined distance (L) and stopping it after the changeover signal (S.sub.D) is received again, then moving the movable machine element in the opposite direction a second predetermined distance (l) shorter than the first predetermined distance (L) and stopping the movable machine element, thereafter moving the movable machine element at a low velocity and stopping it at an initial one-revolution signal of a servomotor, which operates the movable machine element, after the changeover signal produced by the flat dog is detected.

Abstract: A servomotor velocity control system according to the present invention control velocity by using an observer for obtaining a sensed value of velocity while estimating motor load torque. When resolution of a rotary encoder is a problem in a region of low motor velocities, this is compensated for to improve the velocity sensing precision in the low-velocity region. In a region of high motor velocities, velocity processing is executed based on the output of the rotary encoder considering the processing time of a CPU. Use or non-use of the observer for obtaining the estimated value of velocity is selected in dependence upon the velocity of the motor.

Abstract: A dual setpoint controller system comprising first (24) and second (26) setpoint controllers. Each setpoint controller comprises a target counter (30, 80) for storing a digital target value, control elements (38, 40, 88, 90) for enabling an operator to control the target value, a setpoint counter (32, 82) for storing a digital setpoint value, and comparison means (42, 44, 92, 94) operative when the setpoint value is not equal to the target value for causing the setpoint value to change at a selected rate towards the target value. Each target value is displayed via a display device (34, 84), and a digital-to-analog converter (36, 86) is provided for converting each setpoint value to an analog signal.

Abstract: A CRT or other screen display represents a preliminary trace during an EDM or other electrical machining operation upon which can be superimposed a trace representing the action position of the tool vis-a-vis the workpiece or which may be optically scanned so that deviations of the actual machining path from the visible trace can be detected and used for shutdown of the machine.

Abstract: The device comprises a variable frequency AC generator with means of exitation supplied by means for controlling exitation current, means for regulation of the frequency of the generator as a function of an index value, means for measuring actual speed of the mobile portion of the motor, and means for comparing actual speed with the index value. According to the invention, the means for controlling the exitation current are connected to the means for comparing actual speed with the index value, and the generator has a high internal reactance.

Abstract: Herein disclosed is a control circuit for controlling operation of electrically operated seat back pivoting device, which includes therein a transistor to control the current when the latter is applied to the motor of the device in a direction to pivot the seat back rearward. With this arrangement, the rearward pivoting movement of the seat back is carried out with small torque.

Abstract: In a method for producing a pulsed setting voltage (v). said voltage is pulse-duration modulated with an electric control variable. The setting voltage serves to act on a setting drive having an inductance, particularly an electric motor setting drive (9) of a throttle valve (11) of an internal combustion engine. In order to obtain at the same time good periodic excitation of the setting drive as well as a low electric loss power in the setting drive, the setting voltage which is pulsed with a high clock frequency (f.sub.0) is pulse-duration modulated with a low fundamental-modulation frequency (f.sub.m) as well as a control variable.

Abstract: In a system for detecting an angle of a joint coupled through a reduction mechanism to a drive motor, an absolute type rotation angle detector and an incremental-type rotation number detector are coupled to the motor for detecting the rotational angle and the rotation number of the motor, respectively. The detected rotational angle and the detected rotation number are used to calculate the rotational angle of the joint. The incremental-type rotation number detector is provided with a battery for energization during interruption of a power supply.

Abstract: A method and apparatus for disabling a starter motor interrupts the ground conduit within the starter motor casing, breaking electrical continuity between the commutator and ground, by physically displacing a portion of the ground conduit. A cable, attached to a switch within the starter motor casing extends out of the starter motor and into the cab of the vehicle.

Abstract: A first table is provided on a fixed base so that the first table can be moved in one of two directions which cross each other at right angles. A second table is provided on the first table so that the second table can be moved in the other direction. Linear motors for applying the driving force to the first and second tables to directly drive these tables are provided between the fixed base and first table and between the first and second tables.

Abstract: An improved drive control circuit is disclosed for enabling the multiplexed drive of synchro receivers. A zero crossing detector is coupled to sense the zero crossings of a signal driving the excitation winding of a synchro receiver. A counter coupled to the output of the zero crossing detector responds to one of every n counts to provide a count signal for operating a synchro driver associated with each one of multiple synchro receivers. The count signal causes the synchro driver to provide a signal output to the respective synchro receiver during a period defined by the count signal to reduce average power dissipation and provide effective damping without sacrificing peak current capability.

Abstract: A robot control system comprises a hand movable along a plane according to position command data determined based on an absolute coordinate system arranged along the plane, and rotatable around an axis vertical to the plane according to angular command data determined with respect to a base axis of the absolute coordinate system for working a workpiece at a certain working point thereof with a certain angular position of the hand. Input means inputs working point data representative of the working point in terms of a local coordinate system arranged on the workpiece, angular position data representative of the angular position of the hand at the working point determined with respect to a base axis of the local coordinate system, and position data of the workpiece located along the plane in terms of the absolute coordinate.

Abstract: A sensor arrangement for providing positional information about a component (1) to a robot (11) comprises sensors (4,5) sensing index marks (2,3) on the component. The sensing arrangement derives signals denoting the extent of mispositioning of the object. These signals may be fed to the control unit (20) so that the robot carries out its preprogrammed task on the object in its misplaced position. Alternatively the component is shifted with the aid of said signals to a reference position.

Abstract: A control apparatus whereby each time a motor adapted to start and stop its rotation repeatedly a plurality of times is rotated, the phase reference of a rotating object is adjusted and the rotating object is locked to a normal speed in a short period of time from the start. The control apparatus includes circuitry for detecting that the difference between the phase of a detection clock signal and the phase of rotation of the motor is less than predetermined value and the control of the motor is switched between the speed control and the phase control in accordance with the phase difference.

Abstract: A method for supplying the excitation to a four quadrant drive DC electric motor having a forward and reverse controllable bridge rectifier power regulators for controlling the direction of motor rotation. The motor control system is capable of operating in a continuous and discontinuous current mode of operation and includes an electronic control circuit for calculating a firing angle from desired and measured system parameters.The electronic control system includes a reversing controller for developing a current command for generating firing pulses to fire selected switching elements in the power regulators for controlling the magnitude and polarity of the excitation, and a current sensor for sensing motor current. The method provides a smooth, continuous transitioning between the forward and reverse bridge in response to a sensed requirement for reversing excitation to the motor.

Abstract: In the present invention, in an electric motor control apparatus wherein a load current modulated in a pulse form and flowing in an electric motor is detected, and the load current is controlled by varying a pulse width of the load current so that an average value of the load current follows a command value, the electric control apparatus includes switching means for modulating a direct current supplied to the electric motor from a DC power supply to form the load current, a current detector for detecting the load current flowing in the electric motor, an average load current detecting means for detecting the average value of the load current by inputting from the current detector a load current at a time point after the switching means is rendered conductive and after the lapse of a predetermined time which varies in accordance with an "on" time of the switching means, and by assuming the inputted load current as the average value of the load current to be detected, an "on" time calculating means for determi

Abstract: A tapping machining method for moving a tapping tool to a commanded position in synchronism with rotation of a spindle, to subject a workpiece to threading, and thereafter rotating the spindle in the reverse direction and withdrawing the tapping tool from the workpiece in synchronism with rotation of the spindle. The steps of the tapping machining method include moving and positioning a spindle, namely the tapping tool (4), from an initial point (Pi) to an approach point (Pr) in the depth direction (along the Z axis) while being rotated at a constant velocity. Then a pulse distribution calculation is started by using the pitch of a screw and pulses of a frequency proportional to the rotational velocity of the spindle, and threading is performed while the tapping tool is moved toward a target position (Pe) by the distributed pulses.