Abstract: A surface following control method for a robot is used for controlling the robot including a hand part, an arm part, and a controller. In this surface following control method for the robot, processes including a normal direction identification process and a work tool posture control process are performed. In the normal direction identification process, a normal direction of a virtual shape at a virtual position where the work tool attached to the hand part contacts the virtual shape which is a shape represented by the formula is identified. In the work tool control process, the work tool attached to the hand part is brought into contact with the target workpiece at a corresponding position which is a position corresponding to the virtual position on the surface of the target workpiece, in a posture along the normal direction identified in the normal direction identification process.

Abstract: A robot system includes a robot, an attraction pad, a sensor, and a controller. The robot includes a hand whose orientation is changeable. The attraction pad is attached to the hand, attracts a workpiece, and holds the workpiece. The sensor is attached to the hand, includes a detection surface, and detects contact between the detection surface and the workpiece. The controller can determine whether the workpiece has been brought into surface contact with the detection surface based on a result of detection made by the sensor and changes the orientation of the hand, until the workpiece makes surface contact with the detection surface, and then makes the attraction pad hold the workpiece.

Abstract: A robot controller includes: a movement controller moving a robot arm including a hand; and an opening/closing controller opening and closing at least one of fingers included in hand in a predetermined direction. The movement controller causes the robot arm to bring at least one of the fingers into contact with a workpiece in a pressing direction. The opening/closing controller causes the at least one of the fingers to perform an opening action after the contact action. After the at least one of the fingers separates from the workpiece through the opening action, the movement controller causes the robot arm to perform an approaching action of moving the hand in the pressing direction to a holding position. The opening/closing controller causes the fingers to hold the workpiece by causing at least one of the fingers to close in a state where the hand is located at the holding position.

Abstract: A surface following control method for a robot is used for controlling the robot including a hand part, an arm part, and a controller. In this surface following control method for the robot, processes including a normal direction identification process and a work tool posture control process are performed. In the normal direction identification process, a normal direction of a virtual shape at a virtual position where the work tool attached to the hand part contacts the virtual shape which is a shape represented by the formula is identified. In the work tool control process, the work tool attached to the hand part is brought into contact with the target workpiece at a corresponding position which is a position corresponding to the virtual position on the surface of the target workpiece, in a posture along the normal direction identified in the normal direction identification process.

Abstract: An ion-exchange membrane method electrolytic cell comprising a coil cushion arranged between a conductive plate and a cathode in a cathode chamber, and further an ion-exchange membrane arranged in contact with the cathode. The conductive plate is not perforated, and the coil cushion is arranged so that its axial direction is in agreement with the vertical direction of electrolytic cell. Preferably the coil cushion is made of a metal coil and has an impact resilience of 7-17 kPa. The cathode preferably has supported electrode catalyst and is made of an expanded metal with strands of 0.1-1.0 mm width and 0.1-1.0 mm thickness, and having SW of 0.5-5.0 mm and LW of 1.0-10 mm, and 48-60% open area. The electrolytic cell is energy-saving, and damage thereof can be avoided over a long period, and elevation of voltage and reduction of current efficiency with time can be minimized.

Abstract: An ion-exchange membrane method electrolytic cell comprising a coil cushion arranged between a conductive plate and a cathode in a cathode chamber, and further an ion-exchange membrane arranged in contact with the cathode. The conductive plate is not perforated, and the coil cushion is arranged so that its axial direction is in agreement with the vertical direction of electrolytic cell. Preferably the coil cushion is made of a metal coil and has an impact resilience of 7-17 kPa. The cathode preferably has supported electrode catalyst and is made of an expanded metal with strands of 0.1-1.0 mm width and 0.1-1.0 mm thickness, and having SW of 0.5-5.0 mm and LW of 1.0-10 mm, and 48-60% open area. The electrolytic cell is energy-saving, and damage thereof can be avoided over a long period, and elevation of voltage and reduction of current efficiency with time can be minimized.