Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.

Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command ?c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value ?sgc based on the position command ?c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value ?skc based on the interference torque ?a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value ?sgc and the second position-command correction value ?skc to the position command ?c.

Abstract: Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.

Abstract: When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.

Abstract: The exhaust purification system of an internal combustion engine comprises a catalyst 20 arranged in an exhaust passage and able to store oxygen, and an air-fuel ratio control device configured to control an air-fuel ratio of inflowing exhaust gas flowing into the catalyst. The catalyst has a precious metal and the precious metal has a property of a vapor pressure at a predetermined temperature becoming lower when oxidized. If a temperature of the catalyst is equal to or greater than a threshold temperature or if predicting a rise in temperature of the catalyst, the air-fuel ratio control device is configured to make the air-fuel ratio of the inflowing exhaust gas leaner than a stoichiometric air-fuel ratio so that an oxygen storage amount of the catalyst becomes equal to or greater than an upper side reference amount.

Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

Abstract: The exhaust purification system of an internal combustion engine comprises a catalyst 20 arranged in an exhaust passage and able to store oxygen, and an air-fuel ratio control device configured to control an air-fuel ratio of inflowing exhaust gas flowing into the catalyst. The catalyst has a precious metal and the precious metal has a property of a vapor pressure at a predetermined temperature becoming lower when oxidized. If a temperature of the catalyst is equal to or greater than a threshold temperature or if predicting a rise in temperature of the catalyst, the air-fuel ratio control device is configured to make the air-fuel ratio of the inflowing exhaust gas leaner than a stoichiometric air-fuel ratio so that an oxygen storage amount of the catalyst becomes equal to or greater than an upper side reference amount.

Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.

Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

Abstract: A vehicle includes an internal combustion engine, a catalyst provided in an exhaust passage of the internal combustion engine, and an electronic control unit. The electronic control unit is configured to control an engine torque such that a first torque change amount of the engine torque when the temperature of the catalyst belongs to a predetermined low temperature region to be lower than a second torque change amount of the engine torque when the temperature of the catalyst belongs to a high temperature region. The high temperature region is a region having a temperature higher than the low temperature region.

Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command ?c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value ?sgc based on the position command ?c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value ?skc based on the interference torque ?a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value ?sgc and the second position-command correction value ?skc to the position command ?c.

Abstract: A catalyst structure, which makes it possible to reduce the flow passage resistance and raise the purification rate, is provided. A catalyst structure provided in an exhaust passage of an internal combustion engine comprises a base member which is formed by combining wire-shaped members, wherein the wire-shaped members do not include any wire-shaped member which is arranged to be orthogonal to a flow direction of an exhaust gas, and the wire-shaped members include wire-shaped members which are arranged obliquely with respect to the flow direction of the exhaust gas. The change in the cross-sectional area of the base member is suppressed by arranging the wire-shaped members obliquely with respect to the flow direction of the exhaust gas.

Abstract: A catalyst structure, which makes it possible to reduce the flow passage resistance and raise the purification rate, is provided. A catalyst structure provided in an exhaust passage of an internal combustion engine comprises a base member which is formed by combining wire-shaped members, wherein the wire-shaped members do not include any wire-shaped member which is arranged to be orthogonal to a flow direction of an exhaust gas, and the wire-shaped members include wire-shaped members which are arranged obliquely with respect to the flow direction of the exhaust gas. The change in the cross-sectional area of the base member is suppressed by arranging the wire-shaped members obliquely with respect to the flow direction of the exhaust gas.

Abstract: A vehicle includes an internal combustion engine, a catalyst provided in an exhaust passage of the internal combustion engine, and an electronic control unit. The electronic control unit is configured to control an engine torque such that a first torque change amount of the engine torque when the temperature of the catalyst belongs to a predetermined low temperature region to be lower than a second torque change amount of the engine torque when the temperature of the catalyst belongs to a high temperature region. The high temperature region is a region having a temperature higher than the low temperature region.

Abstract: An exhaust gas control apparatus for an internal combustion engine that can be operated at a lean air-fuel ratio is provided. This exhaust gas control apparatus is equipped with a three-way catalyst, an occlusion reduction NOx catalyst (an NSR catalyst) that is provided upstream of the three-way catalyst, a bypass passage that bypasses the NSR catalyst, a changeover valve that causes exhaust gas to flow through one of the bypass passage and the NSR catalyst, and an electronic control unit. The electronic control unit carries out rich spike, causes exhaust gas to flow through the bypass passage in starting rich spike, and causes exhaust gas to flow through the NSR catalyst after having carried out rich spike for a predetermined period.

Abstract: An internal combustion engine, wherein a chemical thermal storage device is provided with a first heater including a first element generating heat when chemically adsorbing a reaction medium supplied from a storage part through a first connection pipe and desorbing the reaction medium if heated by the heat of exhaust in a state chemically adsorbing the reaction medium and a second heater including a second element generating heat when chemically adsorbing a reaction medium supplied from a storage part through a second connection pipe and desorbing the reaction medium if heated by the heat of exhaust in a state chemically adsorbing the reaction medium and wherein the control device controls the opening degrees of the first valve and the second valve so that the reaction medium supplied to the second heater is preferentially recovered at the storage part.

Abstract: An exhaust gas control apparatus for an internal combustion engine that can be operated at a lean air-fuel ratio is provided. This exhaust gas control apparatus is equipped with a three-way catalyst, an occlusion reduction NOx catalyst (an NSR catalyst) that is provided upstream of the three-way catalyst, a bypass passage that bypasses the NSR catalyst, a changeover valve that causes exhaust gas to flow through one of the bypass passage and the NSR catalyst, and an electronic control unit. The electronic control unit carries out rich spike, causes exhaust gas to flow through the bypass passage in starting rich spike, and causes exhaust gas to flow through the NSR catalyst after having carried out rich spike for a predetermined period.

Abstract: In an exhaust gas purification system having an oxidation catalyst and an exhaust gas purifying unit formed so as to include a filter and a selective reduction-type NOx catalyst, at least one of supply of the fuel component and supply of ammonia or an ammonia precursor in an amount that is increased when a prescribed condition under which a part of a fuel component supplied to exhaust gas passes through to a downstream side of the oxidation catalyst is satisfied as compared to a non-passing time supply amount that is a supply amount of ammonia or the ammonia precursor to be supplied when the prescribed condition is not satisfied is controlled such that ammonia for NOx selective reduction by the increased ammonia or ammonia precursor reaches the exhaust gas purifying unit before the passed fuel component.