Abstract: A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

Abstract: A directional coupler is provided on the output side of a power amplifier. An increase in reflected wave power from a load is detected through the directional coupler by an electric power detector (wave detector). Then, a detection signal of an electric power detector is provided to a power amplifier supply voltage control circuit. As a result, the supply voltage supplied to the power amplifier is reduced gradually. By virtue of this, the supply voltage provided to the power amplifier is gradually reduced when the power amplifier approaches a breakdown condition. This protects the power amplifier.

Abstract: A robot apparatus having a robot and a controller for controlling the robot. The apparatus has a diagnosing computer connected to the controller and acquiring a state quantity of the robot. An analyzing computer is provided remotely from the robot and has a control parameter adjuster for adjusting a control parameter of the robot, and a communicating function of connecting the computers. The state quantity is transmitted to the analyzing computer by the communicating function and a control parameter of the robot is obtained based on the state quantity. The control parameter is transmitted to the controller through the diagnosing computer to control the robot.

Abstract: Fundamentals and IM waves comprising distortion signals are detected by vector measurement from an amplified baseband signal. Detected IM waves are related to power and frequency and plotted on the frequency axis. IM waves related to power and frequency are subjected to IFFT processing, and thereby converted so as to be related to time and power. Amplitude and phase components of IM waves subjected to IFFT processing are found. Compensation signal generation information is generated by relating a distortion compensation signal that has amplitude components of inverse amplitude to the amplitude components of IM waves and phase components of inverse phase to the phase components of IM waves to power, and creating a table by storing the generated compensation signal generation information in a compensation table. By this means, the circuit configuration can be made small and simple, processing can be simplified and speeded up, and distortion components can be suppressed with high precision.

Abstract: A compensation data table 304 generates baseband signal nonlinear characteristic information. A determination section 305 determines from measured power whether power is on an upward trend or on a downward trend. An IM unbalance compensation computation section 306 generates an unbalance IM characteristic so that an amplitude component and phase component when power is identical differ when power is on an upward trend and when power is on a downward trend, and generates a compensation signal of a compensation characteristic that has an amplitude component and phase component that are symmetrical with the generated unbalance IM characteristic with respect to amplitude component and phase component fixed values when there is a linear characteristic. A complex multiplication section 307 combines the baseband signal with the compensation signal. An amplifier 312 amplifies the baseband signal and also suppresses distortion components generated during amplification by means of the compensation signal.

Abstract: A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a position/speed state feedback loop, has a mechanism for measuring the angle of a joint of a robot, a mechanism for storing the initial posture of a tool attached to the end of a hand of the robot, a mechanism for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and a mechanism for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.

Abstract: A directional coupler is provided on the output side of a power amplifier. An increase in reflected wave power from a load is detected through the directional coupler by an electric power detector (wave detector). Then, a detection signal of an electric power detector is provided to a power amplifier supply voltage control circuit. As a result, the supply voltage supplied to the power amplifier is reduced gradually. By virtue of this, the supply voltage provided to the power amplifier is gradually reduced when the power amplifier approaches a breakdown condition. This protects the power amplifier.

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 robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

Abstract: It is an object of the invention to easily carry out, through an analyzing computer on a manufacturer side, the adjustment of a robot which is to be performed by an operator of a manufacturer going to the factory of a user and to immediately cope with a request for the maintenance and adjustment of the user without stopping the line of the factory.

Abstract: A recording medium accommodating case includes a main body, a lid and a joint portion. The main body is formed with a disk storage area and a cartridge storage area. On the lid, a booklet storage area is formed. The disk storage area includes a protrusion engaged in a center hole of a disk, a supporting portion which is brought into contact with a rear surface of the disk to support the disk, and a disk fall preventive portion which is formed in an outwardly projecting manner from an upper side surface of the protrusion and engaged in the center hole of the disk. The cartridge storage area includes a cartridge holding portion which comes into contact with a side surface of a cartridge to hold the cartridge, and a cartridge fall preventive portion which is formed in an inwardly projecting manner toward an inner surface of the cartridge holding portion.

Abstract: A television game machine includes a housing having an air intake and air exit in side surfaces, and forms an air flow passage in a space of air flow on a line connecting between the air intake and the air exit. A heat-radiating member formed with heat-radiating fins is attached in a state electrically insulated from a semiconductor device mounted on the printed board in order to transfer heat generated from the semiconductor device. The heat-radiating member is arranged related to the semiconductor device and printed board such that the heat-radiating fins are along the air flow passage. When ambient air is taken through the air intake and caused to flow through the grooves between the heat-radiating fins of the heat-radiating member to be released outside through the air exit, a fan releases the heat dissipated from the heat-radiating fins together with flowing air to an outside.

Abstract: A recording medium accommodating case includes a main body, a lid and a joint portion. The main body is formed with a disk storage area and a cartridge storage area. On the lid, a booklet storage area is formed. The disk storage area includes a protrusion engaged in a center hole of a disk, a supporting portion which is brought into contact with a rear surface of the disk to support the disk, and a disk fall preventive portion which is formed in an outwardly projecting manner from an upper side surface of the protrusion and engaged in the center hole of the disk. The cartridge storage area includes a cartridge holding portion which comes into contact with a side surface of a cartridge to hold the cartridge, and a cartridge fall preventive portion which is formed in an inwardly projecting manner toward an inner surface of the cartridge holding portion.

Abstract: A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by means of a control circuit having a position/speed state feedback loop, comprising means for measuring the angle of a joint of a robot, means (11) for storing the initial posture of a tool attached to the end of a hand of the robot, means (10) for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and means (12) for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.

Abstract: The phenolic resin composition for fiber-reinforced composite materials of the invention comprises at least the following constituent elements A and B of a thermoplastic resin: A: phenolic resin, B: at least one thermoplastic resin selected from polyvinyl formals, polyvinyl acetals, polyvinyl butyrals, polyvinyl pyrrolidones, polyvinyl acetates, polyvinyl alcohols, polyethylene glycols, copolymerized nylons and dimer acid polyamides. The resin composition is filmwise applied to reinforcing fibers, and the resulting film is heated under pressure whereby it is impregnated into the reinforcing fibers to give a prepreg for fiber-reinforced composite materials.

Abstract: When the antenna is extended, the length of the ½&lgr; whip antenna 102 operates as an antenna thus causing only a negligible quantity of high-frequency currents to flow into the ground for the circuit board 108. When the antenna is housed, the entire length of a ¼&lgr; helical antenna 101 and a ¼&lgr; radial 109 operates as an antenna thus causing only a negligible quantity of high-frequency currents to flow into the ground for the circuit board 108. When the antenna is extended, the second contact 104 makes adjustments so that high-frequency electric signals from the ½&lgr; whip antenna 102 may be transmitted to the circuit board 108 and matching may be provided at the second matching section 106 when the antenna is extended.