Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

Abstract: A robot system includes a robot and a robot control device. The robot includes a plurality of links connected to via a plurality of joint axes, servo motors that drive the joint axes, and a contact detection sensor that detects that one of the links touches an object. The robot control device includes a contact position determination unit that determines a contact position of the link based on an output of the contact detection sensor, a retracting direction vector calculation unit that calculates a retracting direction vector in a retracting direction of the link corresponding to the contact position, an assist torque calculation unit that calculates assist torque references for moving the links in the direction of the retracting direction vector, and a flexible control unit that adds the assist torque references to torque references for the servo motors to flexibly control the links.

Abstract: The positional displacement detector includes a contact member, a prohibition member, and a vibration detector. The contact member is configured to make contact with the object and deform with a positional displacement of the object. The prohibition member is configured to make contact with the deformed contact member to prohibit a deformation of a magnitude equal to or more than a predetermined magnitude from being caused to the contact member. The vibration detector is configured to detect a vibration generated when the contact member has made contact with the prohibition member.

Abstract: A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit.

Abstract: An operating apparatus for game machine includes a depressing member, and a main body of the depressing member is provided with three engaging protrusions and two depressing protrusions that downwardly protrude. For example, the two depressing protrusions are provided between the three engaging protrusions. In response to a beating operation by a player, the right side of the depressing member is depressed, and then, an engaging portion of the engaging protrusion at the left side is engaged with a rear surface of an upper surface panel. Accordingly, the depressing member is sure to be depressed at the right side without being upwardly actuated, and a rubber switch depressed by the depressing protrusion is brought into contact with a board. At this time, a contact provided on the board and a contact provided on the rubber switch are brought into contact with each other, and an operation signal according to the beating operation is output to the game machine.

Abstract: An operating apparatus for game machine includes a depressing member, and a main body of the depressing member is provided with three engaging protrusions and two depressing protrusions that downwardly protrude. For example, the two depressing protrusions are provided between the three engaging protrusions. In response to a beating operation by a player, the right side of the depressing member is depressed, and then, an engaging portion of the engaging protrusion at the left side is engaged with a rear surface of an upper surface panel. Accordingly, the depressing member is sure to be depressed at the right side without being upwardly actuated, and a rubber switch depressed by the depressing protrusion is brought into contact with a board. At this time, a contact provided on the board and a contact provided on the rubber switch are brought into contact with each other, and an operation signal according to the beating operation is output to the game machine.

Abstract: A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit.

Abstract: An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.

Abstract: In an automatic machine system comprising a mechanism unit (1) including at least one driving mechanism, a controller (2) for controlling a driving operation of the mechanism unit (1), and a teaching unit (3) for operating the mechanism unit (1), the teaching unit (3) includes a teaching unit communicating portion for carrying out a wireless communication with the controller (2) and a first field intensity monitoring portion (13) for monitoring a field intensity of communication data in the teaching unit communicating portion, and the controller (2) includes a controller communicating portion for carrying out a wireless communication with the teaching unit (3), a second field intensity monitoring portion (26) for monitoring a field intensity of communication data in the controller communicating portion, and a driving portion for driving the mechanism unit (1) based on an operation signal sent from the teaching unit (3) in the controller communicating portion.

Abstract: A lens cleaner (10) cleans a pickup lens (38) within an optical disk device (12). The lens cleaner (10) includes a disk portion (16) and a grip (20) provided at the rear end thereof. A user inserts the lens cleaner (10) into a slot (14) of the optical disk device (12) with the grip (20) holding with a hand (18) to thereby load the lens cleaner (10) into the interior of the optical disk device 12. When the user turns the lens cleaner (10) right and left with the grip (20) holding, a lens surface is cleaned by a cleaning member upheaving on a bottom surface of the disk portion (16).

Abstract: A composition has a gas containing agent or gas producing agent, a foam stabilizer and a food acid source. In one advantageous form, when the composition is dissolved in a liquid medium, a resulting beverage preferably has a pH between 2.5 and 5.4, and a viscosity between 1.0 and 10.0 cP when at a concentration between 1 and 150 grams per liter at a temperature between 2 and 28° C. In another advantageous form, the composition is water soluble in cold water, e.g., at a temperature between 2 and 28° C. In an alternative form, various components of the composition will be present in a premade liquid to which a gas containing agent or gas producing agent is added just prior to consumption.

Abstract: An automatic machine system and its communication control method not stopping the robot action even if wireless communication of a wireless portable teaching/operating unit fails. The automatic machine system comprises a mechanism unit having one or more drive mechanisms, a controller for driving/controlling the mechanism unit, and a portable teaching/operating unit for operating/teaching the mechanism unit. The controller (2) has a controller wireless communication section (24) for wireless communication with the portable teaching/operating unit (3) and a drive section (22) for driving the mechanism unit (1) according to a command signal received at the controller wireless communication section (24) from the portable teaching/operating unit (3).

Abstract: In an automatic machine system comprising a mechanism unit (1) including at least one driving mechanism, a controller (2) for controlling a driving operation of the mechanism unit (1), and a teaching unit (3) for operating the mechanism unit (1), the teaching unit (3) includes a teaching unit communicating portion for carrying out a wireless communication with the controller (2) and a first field intensity monitoring portion (13) for monitoring a field intensity of communication data in the teaching unit communicating portion, and the controller (2) includes a controller communicating portion for carrying out a wireless communication with the teaching unit (3), a second field intensity monitoring portion (26) for monitoring a field intensity of communication data in the controller communicating portion, and a driving portion for driving the mechanism unit (1) based on an operation signal sent from the teaching unit (3) in the controller communicating portion.

Abstract: An operating apparatus for game machine includes a depressing member, and a main body of the depressing member is provided with three engaging protrusions and two depressing protrusions that downwardly protrude. For example, the two depressing protrusions are provided between the three engaging protrusions. In response to a beating operation by a player, the right side of the depressing member is depressed, and then, an engaging portion of the engaging protrusion at the left side is engaged with a rear surface of an upper surface panel. Accordingly, the depressing member is sure to be depressed at the right side without being upwardly actuated, and a rubber switch depressed by the depressing protrusion is brought into contact with a board. At this time, a contact provided on the board and a contact provided on the rubber switch are brought into contact with each other, and an operation signal according to the beating operation is output to the game machine.

Abstract: An operating apparatus for game machine includes a depressing member, and a main body of the depressing member is provided with three engaging protrusions and two depressing protrusions that downwardly protrude. For example, the two depressing protrusions are provided between the three engaging protrusions. In response to a beating operation by a player, the right side of the depressing member is depressed, and then, an engaging portion of the engaging protrusion at the left side is engaged with a rear surface of an upper surface panel. Accordingly, the depressing member is sure to be depressed at the right side without being upwardly actuated, and a rubber switch depressed by the depressing protrusion is brought into contact with a board. At this time, a contact provided on the board and a contact provided on the rubber switch are brought into contact with each other, and an operation signal according to the beating operation is output to the game machine.

Abstract: There are provided an evaluating system of a robot and its evaluating method capable of measuring a movement state amount, particularly, a position or a speed or an acceleration, or an angle or an angular speed or an angular acceleration of an arm of a robot by a simple system constitution in noncontact, accurately, in real time, dispensing with a complicated calibration.

Abstract: In an AGC circuit using an IF detection method, to detect an IF level of a mixer output, a variable low-pass filter is provided before a detector, in addition to a low-pass filter for extracting an IF signal. Analog television channels which are interfering waves are defined according to digital television channels and a cut-off frequency of the variable low-pass filter is set such that levels of interfering analog television signals can be detected by the detector and that an unwanted signal that is not desirable to be inputted to the detector is suppressed by a signal outputted from a mixer.