Abstract: According to an embodiment, a motor control circuit includes a rotational position decoding unit, a rotational position determining unit, and a motor drive signal generating unit. The rotational position decoding unit is configured to generate a rotational position signal representing a rotational position of a motor according to a sensor signal provided by a sensor. The rotational position determining unit is configured to store a current rotational position of the motor based on the rotational position signal. When the rotational position signal represents a subsequent rotational position of the stored current rotational position, the rotational position determining unit is configured to update the stored current rotational position with the subsequent rotational position, and generate a motor control signal representing the subsequent rotational position. The motor drive signal generating unit is configured to generate a motor drive signal for driving the motor according to the motor control signal.

Abstract: According to an embodiment, a motor control circuit includes a rotational position decoding unit, a rotational position determining unit, and a motor drive signal generating unit. The rotational position decoding unit is configured to generate a rotational position signal representing a rotational position of a motor according to a sensor signal provided by a sensor. The rotational position determining unit is configured to store a current rotational position of the motor based on the rotational position signal. When the rotational position signal represents a subsequent rotational position of the stored current rotational position, the rotational position determining unit is configured to update the stored current rotational position with the subsequent rotational position, and generate a motor control signal representing the subsequent rotational position. The motor drive signal generating unit is configured to generate a motor drive signal for driving the motor according to the motor control signal.

Abstract: A door module for an automobile door with a main body having a housing portion disposed adjacent to a window opening. The door module is housed in the housing portion and attached to the main body. The door module includes a windowpane, door equipment including at least a regulator, and a module frame on which the door equipment is integrally held. The module frame has an annular shape. The regulator is provided with a rail for guiding the windowpane when the windowpane is moved by the motor. The motor is disposed in the annular shape of the module frame, and at least one end of the rail is projects from the annular shape of the module frame and is fixed to the door main body.

Abstract: An outer panel having a first panel portion is opposite to and joined to an inner panel having a second panel portion, whereby a door body having window openings is formed. An opening portion is formed in the first panel portion, positioned below the window opening, or the second panel portion, positioned below the window opening. A module panel, equipped with door-installed components including electrical equipment, is attached to the opening portion to construct the rear gate door for a vehicle. When the module panel is attached to the opening portion, the first connecting portion, attached to the module panel, is electrically connected to the second connecting portion, located the vicinity of the opening portion. Thus, the rear gate door for the vehicle enabling an assembling work and a door disassembling work easy is obtainable.

Abstract: In order to reduce the weight of the automobile door without causing a reduction of the strength, the automobile door having the following construction is provided. A door module is formed by integrating to a module frame in an annular form in a side view, a windowpane and a door equipment including a regulator. A motor in the regulator is disposed in the annulus of the module frame and at least one end of a rail in the regulator is projected from the annulus of the module frame. The door receives the door module in its housing portion of the door main body. In receiving the door module in the door main body, the end of the rail projecting from the module frame is fixed to the door main body.

Abstract: An outer panel having a first panel portion is opposite to and joined to an inner panel having a second panel portion, whereby a door body having window openings is formed. An opening portion is formed in the first panel portion, positioned below the window opening, or the second panel portion, positioned below the window opening. A module panel, equipped with door-installed components including electrical equipment, is attached to the opening portion to construct the rear gate door for a vehicle. When the module panel is attached to the opening portion, the first connecting portion, attached to the module panel, is electrically connected to the second connecting portion, located the vicinity of the opening portion. Thus, the rear gate door for the vehicle enabling an assembling work and a door disassembling work easy is obtainable.

Abstract: Velocity, at which a work point of a robot passes through respective reference points, has previously been given magnitude and directions dependent on a relative positional relation between a plurality of continuous reference points. The work point passes through the respective reference points. Between adjacent reference points, interpolation arithmetic is performed along the above condition, whereby the work point defines a smooth locus in accordance with the result of the arithmetic.

Abstract: An automatic bending apparatus comprises a bending machine (1) provided with a bottom die (7a) and a top die (7b) for bending a plate, and a gripper (27) for holding the plate. The gripper (27) can be positioned in a vertical plane in the forward and backward direction with respect to the bending machine (1) as well as around a horizontal axis orthogonally intersecting with the vertical plane. When the plate is bent by lowering of the top die (7b) or lifting of the bottom die (7a), the ends of the plate rise. In order to make the gripper (27) follow up the rising motion, positioning of the gripper (27) is controlled successively based on the position data concerning the lowering of the top die (7b) or the lifting of the bottom die (7a).

Abstract: An apparatus for controlling an articulated robot comprises coordinate transforming portions (5 to 8 and 18) and a calculating portion (9) for equation of motion. The coordinate transforming portions (5 to 8 and 18) perform coordinate transformation between the Cartesian coordinate system and the articular system with respect to the position data, speed data, acceleration data and force data. The coordinate transforming portions (5 to 8 and 18) are respectively formed of hardware and accordingly, the calculation speed therein is extremely high as compared with the case using software. The calculating portion (9) for equation of motion solves the inverse problem of an equation of motion using the speed data (d.alpha.) and acceleration data (d.sup.2 .alpha.) in the articular coordinate system, whereby predictive control is performed. The calculating portion (9) for equation of motion is also formed of hardware and accordingly, the calculation speed therein is extremely high.

Abstract: An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

Abstract: An automatic positioning apparatus comprises a smoothing means. The smoothing means is adapted to connect smoothly a 3-dimensional path based on the preceding and succeeding four taught points irrespective of a straight line or a curved line, while correcting a driving system with a delay of a system of a means being controlled, thereby to achieve a control in consideration of not only inertia but also a response characteristic.