Abstract: A method and an apparatus for a metal spinning operation capable of spinning a product having a non-circular cross section normal to an axis of rotation such as a polygonal/elliptic one. The actuators of a forming roller (5) are driven with feedback signals from a force sensor (8) fitted to the forming roller (5) to control the pushing force of the forming roller (5) so as to form a work (1) following the cross section shape of a mandrel (3), so that the product having the non-circular cross section normal to the axis of rotation can also be formed. The motion of the forming roller (5) in the forming operation is stored, the shape of the mandrel (3) near the point of the forming roller (5) contacting with the work (1) is estimated based on the motion of the forming roller (5) from a time point before one rotation of the mandrel (3), and according to the estimation, the rotational speed of a motor for rotating the mandrel (3) is controlled for the forming operation.

Abstract: A method and an apparatus for a metal spinning operation capable of spinning a product having a non-circular cross section normal to an axis of rotation such as a polygonal/elliptic one. The actuators of a forming roller (5) are driven with feedback signals from a force sensor (8) fitted to the forming roller (5) to control the pushing force of the forming roller (5) so as to form a work (1) following the cross section shape of a mandrel (3), so that the product having the non-circular cross section normal to the axis of rotation can also be formed. The motion of the forming roller (5) in the forming operation is stored, the shape of the mandrel (3) near the point of the forming roller (5) contacting with the work (1) is estimated based on the motion of the forming roller (5) from a time point before one rotation of the mandrel (3), and according to the estimation, the rotational speed of a motor for rotating the mandrel (3) is controlled for the forming operation.

Abstract: A metal spinning machine includes a mandrel kept in rotation, a roller tool with which a plate blank workpiece is pressed against the mandrel to form the workpiece, linear motors that generate thrust force in proportion to driving electrical current and drive the roller tool, an operating lever that gives an operator command to the linear motor and a control unit that includes a memory. Manual operation of the roller tool with the operating lever by an operator receiving a teaching of the operator command forms the workpiece in a prescribed shape. The memory of the control unit stores the operator command that is then given to the linear motor to enable a same shape to be subsequently formed relative to plate blank workpieces repeatedly.

Abstract: A spinning method which makes it possible to control the pressing force of a roller tool with satisfactorily high responsiveness and have the roller tool press work following the contour of a forming die even if the die may have its radial length vary at a high speed relative to the angle of its rotation when making a product which is not circular in its cross section normal to the axis of rotation of the die, and an apparatus therefor. The roller tool is driven by at least two mutually crossing linear motors and the thrust to be generated by each linear motor is adjusted to control the feeding displacement of the roller tool and the pressing force of the roller tool against a piece of work.

Abstract: A spinning method which makes it possible to control the pressing force of a roller tool with satisfactorily high responsiveness and have the roller tool press work following the contour of a forming die even if the die may have its radial length vary at a high speed relative to the angle of its rotation when making a product which is not circular in its cross section normal to the axis of rotation of the die, and an apparatus therefor. The roller tool is driven by at least two mutually crossing linear motors and the thrust to be generated by each linear motor is adjusted to control the feeding displacement of the roller tool and the pressing force of the roller tool against a piece of work.

Abstract: A method for control of a cooperative object-transporting robot, in which a man and a robot transport a long object or a large-sized object while grasping each of the ends of the object. An angle of a hand-tip of the robot is detected by angle sensors, and based on the sensor signals, a motion instruction for a translational motion of the hand-tip in the vertical direction is output so as to keep the posture of the object horizontal.

Abstract: A method for control of a cooperative object-transporting robot, in which a man and a robot transport a long object or a large-sized object while grasping each of the ends of the object. An angle of a hand-tip of the robot is detected by angle sensors, and based on the sensor signals, a motion instruction for a translational motion of the hand-tip in the vertical direction is output so as to keep the posture of the object horizontal.

Abstract: A control of a cooperative object-transporting robot which transports an object in cooperation with a man. The robot shares substantially a half of the weight of the object with the man, while the object is kept in a horizontal posture. A force applied to the robot by the object is detected by a force sensor, and based on the signal from the force sensor, a motion instruction is output for the motion components by the rotational force component &tgr;1 around the horizontal axis and the translational force component Fx1 in the horizontal back-and-forth direction, upon setting a gain to reduce the resistance forces of the robot to small values. The translational force component Fy in the direction of the object short axis is constrained so that no translational motion in the direction of the object short axis occurs.

Abstract: A power assist apparatus includes an autonomously mobile base on which a manipulator for holding a load is mounted. The movement of the mobile base is controlled such that when the manipulator tip is within a prescribed operating region relative to the mobile base, the mobile base is maintained stationary, but when the manipulator tip moves outside the operating region, the mobile base is moved to decrease the distance between the mobile base and the manipulator tip. The power assist apparatus assists with the carrying of loads by amplifying an operational force applied to the manipulator.

Abstract: A method of controlling a force assist apparatus worn on a human body comprises separating a force signal relating to a load force imposed on the force assist apparatus detected by a force sensor into a static force component and a dynamic force component, attenuating the static force by a smaller factor than the factor by which the dynamic force is attenuated, attenuating the dynamic force by a factor within a range according to actuator output margin in which saturation does not occur, summing the attenuated signals, subtracting an operating force signal detected by a force sensor from the sum, and using the total signal as an output command to drive actuators.

Abstract: A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.