Abstract: A probing control apparatus for use in aligning an object comprises: a mechanism having n-degrees of freedom and adapted for controlling the object; n pieces of actuators for actuating the mechanism; detecting means for detecting change in the output from the object in response to the operation of each actuator; and control means for computing a command for each actuator in accordance with a change in the output detected by the detecting means and amount of movement of the mechanism, and for controlling each actuator in accordance with the command such that the output from the object takes the maximum value.

Abstract: The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control.

Abstract: A working/assembling system including a dosed loop endless track, moving units adapted to travel on the endless track, at least one robot supported on one of the moving units for a working or assembling operation, and a control unit mounted on the other moving unit connected to the one moving unit having stored therein operations to be performed by the robot and causing the robot to perform the operations. The robot moves on the moving units as the latter travel on the endless track, and performs the operations for working on workpieces or assembling parts as it is controlled by the control unit.

Abstract: Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.

Abstract: The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the

Abstract: A fitting device for fitting a peg member and a hole formed in a hole member into each other including a stationary base, a movable base for supporting one of the peg member and the hole member, and a three-dimensional spatial mechanism having at least six degrees of freedom. The three-dimensional spatial mechanism includes a plurality of sliders supported on the stationary base for non-linear movements.

Abstract: Interfitting apparatus including a fitting jig formed with a plurality of regulating openings each for receiving therein one of a plurality of shaft members having chamfered forward ends, which are objects of interest, to hold the shaft members by regulating their posture and allow them to move freely within tight tolerances, and a table at least slightly movable in a horizontal direction for supporting, by precision positioning, an object formed with a plurality of holes separated from one another by a spacing substantially the same as the spacing between the regulating openings of the fitting jig.