Abstract: A transfer device includes a lower mechanism and an upper mechanism stacked on the lower mechanism. The lower mechanism includes a first endless belt, and the upper mechanism includes a second endless belt. The first and the second endless belts are operable independently of each other for forward and backward circulation. The first endless belt is driven by a first driving unit disposed at one end of the lower mechanism as viewed in the traveling direction of the first endless belt. The second endless belt is driven by a second driving unit disposed at one end of the upper mechanism as viewed in the traveling direction of the second endless belt. A plurality of transfer devices connected in their widthwise direction constitute a transfer device assembly.

Abstract: A transfer device includes an upper mechanism and a lower mechanism associated with the upper mechanism. The upper mechanism includes a first endless belt that circulates in forward and reverse directions. The lower mechanism includes a second endless belt that circulates in forward and reverse directions independently of the first endless belt. The first and the second endless belts are selectively brought into and out of engagement with each other.

Abstract: A transfer device includes a lower mechanism and an upper mechanism stacked on the lower mechanism. The lower mechanism includes a first endless belt, and the upper mechanism includes a second endless belt. The first and the second endless belts are operable independently of each other for forward and backward circulation. The first endless belt is driven by a first driving unit disposed at one end of the lower mechanism as viewed in the traveling direction of the first endless belt. The second endless belt is driven by a second driving unit disposed at one end of the upper mechanism as viewed in the traveling direction of the second endless belt. A plurality of transfer devices connected in their widthwise direction constitute a transfer device assembly.

Abstract: A transfer device includes an upper mechanism and a lower mechanism associated with the upper mechanism. The upper mechanism includes a first endless belt that circulates in forward and reverse directions. The lower mechanism includes a second endless belt that circulates in forward and reverse directions independently of the first endless belt. The first and the second endless belts are selectively brought into and out of engagement with each other.

Abstract: PWM controlling means (4) for inputting PWM signals corresponding to PWM target values to electric power supplier (3) in order to servo-controlling DC motor (2) comprises synchronizing control part (41), PWM computing part (50), selecting part of PWM target value (45) and PWM commanding part (46). The synchronizing control part (41) instructs the commencement of the PWM computation, selection of PWM target value and PWM command allotted to some of the infinitesimal intervals obtained by dividing processing term, on which PWM signals regulating the electric power supplied to the motor (2) are allotted, into n equal parts, and terminates one cycle for a series of the process and/or computation predetermined within one processing term. PWM target values corresponding to plural control target values (DP0, DV0, DT0) are computed in parallel so that the servo-control of motor can be operated in quick response to the change of control mode.

Abstract: PWM controlling means (4) for inputting PWM signals corresponding to PWM target values to electric power supplier (3) in order to servo-controlling DC motor (2) comprises synchronizing control part (41), PWM computing part (50), selecting part of PWM target value (45) and PWM commanding part (46). The synchronizing control part (41) instructs the commencement of the PWM computation, selection of PWM target value and PWM command allotted to some of the infinitesimal intervals obtained by dividing processing term, on which PWM signals regulating the electric power supplied to the motor (2) are allotted, into n equal parts, and terminates one cycle for a series of the process and/or computation predetermined within one processing term. PWM target values corresponding to plural control target values (DP0, DV0, DT0) are computed in parallel so that the servo-control of motor can be operated in quick response to the change of control mode.

Abstract: The teaching procedure is performed so that a relative position of the tool against a workpiece and an attitude of a tool against a ground are maintained constant under a control of a co-acting mode of the manual operation. The position and the attitude of the workpiece and the position and the attitude of the tool are manipulated in response to a co-acting mode signal supplied by a mode changing switch, a robot signal selecting the workpiece handling robot supplied by a robot changing switch and actuating signals supplied by a group of the keys. The manipulation of the position of the tool by the tool handling robot is coordinated with the manipulation of the position and the attitude of the workpiece by the workpiece handling robot maintaining the attitude of the tool against the ground and the relative position of the tool against the workpiece.

Abstract: In an apparatus for controlling an industrial robot system comprising a workpiece handling apparatus having first revolute joints for moving a workpiece, and a tool moving apparatus having second revolute joints for moving a tool so as to move the workpiece and the tool on a predetermined trajectory between two adjacent teaching points, there are calculated a position and an attitude of a predetermined coordinate system of a predetermined workpiece attachment reference point based on a coordinate system of a baseplane of said workpiece handling apparatus, and a position and an attitude of a predetermined coordinate system of a predetermined tool attachment reference point based on a coordinate system of a baseplane of said tool handling apparatus, from inputted teaching data. Further, there are calculated joint variables of the first and second revolute joints for moving tile workpiece and the tool on the trajectory, from the calculated data.

Abstract: An apparatus is provided for controlling an industrial robot of the type which holds a workpiece for movement relative to a fixed tool or a series of fixed tools. The robot control apparatus prepares and stores a task program which itself includes teaching data regarding the positional and attitudinal relation wXt.sub.j of the tool tip relative to the workpiece reference point as well as the setting data regarding the tool and the workpiece.

Abstract: An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, "a relative position and a relative attitude of a tool against a workpiece" are maintained substantially constant.When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece.