Abstract: The present invention provides a technology which realizes a reliable semiconductor device including a photosensor device by preventing pent roofs of edges of a P+ layer from being generated and a metal wiring installed over the P+ layer from coming down while securing the electrical conductivity of the P+ layer. The semiconductor device includes a photosensor including a photodiode formed on a substrate. The photodiode includes: a cathode electrode; a laminated structure that is formed on the cathode electrode and in which an N+ layer, an I layer, and a P+ layer are laminated in this order; an anode electrode formed on the P+ layer; a first insulating film formed so as to cover a portion of the anode electrode and edges of the laminated structure; and a metal wiring connected to the anode electrode. The edges of the laminated structure are formed in forward tapered shapes in a cross-sectional view.

Abstract: A display device including: a substrate; a first thin film transistor of polysilicon semiconductor, a second thin film transistor of oxide semiconductor; a first light shading film opposing to the polysilicon semiconductor, and a second light shading film opposing to the oxide semiconductor; a first insulating film, a second insulating film which is constituted from plural insulating films, and a third insulating film superposed in this order; a first through hole penetrating the second insulating film and not penetrating the first insulating film and the third insulating film; a second through hole penetrating the first insulating film and the third insulating film; the first light shading film connects with a first conductive component, a part of the first conductive component exists on the third insulating film, through the second through hole.

Abstract: An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

Abstract: A robot control device includes: a first acquisition unit to acquire path information relating to a path of a robot and speed information relating to a speed the robot moves on the path; a second acquisition unit to acquire specification information relating to a specification of the robot; a determination unit to determine a segment where an action time of the robot is shortened even when a waypoint is added on the path; a correction unit to correct the path of the robot so as to make inertia of the robot smaller in a segment where an action time of the robot is shortened; a computation unit to compute a load acting on a joint of the robot; and an adjustment unit to adjust a control amount for controlling an acceleration of the robot joint such that the load computed by the computation unit satisfies a target load.

Abstract: A gripping posture evaluation apparatus includes a gripping posture deriver that derives a gripping posture in which a robot hand (H) in a robot (RB) grips a workpiece, a load index calculator that calculates a load index value indicating a load to the robot (RB) gripping and transporting the workpiece with the hand (H) in the gripping posture derived by the gripping posture deriver, and a gripping posture evaluator that evaluates the gripping posture by determining whether the gripping posture is appropriate based on the load index value calculated by the load index calculator. In response to the gripping posture evaluator determining that the gripping posture is inappropriate, derivation of a new gripping posture by the gripping posture deriver, calculation of a load index value by the load index calculator, and evaluation by the gripping posture evaluator are repeated.

Abstract: An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

Abstract: A parameter identification apparatus is disclosed. A trajectory generator generates a trajectory of movement of a robot satisfying an identification condition for the parameter to identify a parameter in a robot model. A data obtainer obtains data representing torque generated in the robot moving in accordance with the trajectory generated by the trajectory generator. An identifier identifies the parameter in the robot model based on the trajectory generated by the trajectory generator and based on the data obtained by the data obtainer.