Abstract: A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.

Abstract: A displacement detection device and a torque sensor include a movable part that is connected to a first member and to a second member and that changes a gap along with displacement of the second member with respect to the first member in a prescribed direction; and a detection part (detection circuit) that, on the basis of the change in the gap detects displacement of the second member with respect to the first member in the prescribed direction, wherein the movable part is configured to make the amount of N change in the gap greater than the amount of displacement of the second member with respect to the first member in the prescribed direction.

Abstract: Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.

Abstract: A displacement detection device and a torque sensor include a movable part that is connected to a first member and to a second member and that changes a gap along with displacement of the second member with respect to the first member in a prescribed direction; and a detection part (detection circuit) that, on the basis of the change in the gap detects displacement of the second member with respect to the first member in the prescribed direction, wherein the movable part is configured to make the amount of N change in the gap greater than the amount of displacement of the second member with respect to the first member in the prescribed direction.

Abstract: Provided is a polycarbonate polyol used as a raw material of a polyurethane that has an excellent balance of flexibility, mechanical strength and solvent resistance. The polycarbonate polyol includes structural units derived from a polyhydric alcohol and has a hydroxyl value of 20 to 450 mg KOH/g. The polyhydric alcohol includes: a diol (A) containing not less than 70% by weight of a specific oxyalkylene glycol (A1); and a trihydric to hexahydric branched alcohol (B) having 3 to 12 carbon atoms. In the polycarbonate polyol, structural units derived from the branched alcohol (B) is contained in an amount of 0.005 to 5.0% by mole in the structural units derived from the polyhydric alcohol. A ratio of a structural unit (X1) represented by the following Formula (X1) in the structural units derived from the branched alcohol (B) is not higher than 50% by mole.

Abstract: The present invention provides a novel polycarbonate diol and a polyurethane using the polycarbonate diol as raw materials. The novel polycarbonate diol produces polycarbonate diol-based polyurethane which has a high degree of hardness, superior abrasion resistance, and superior hydrophilicity, and is usable for an application such as a paint, a coating agent, a synthetic leather, an artificial leather, and a highly-functional elastomers, or the like. The present invention also provides an active-energy radiation curable polymer composition giving a cured film having a superior contamination resistance and high degree of hardness. The present invention is obtained, for example, by reacting specific two types of diols with diester carbonate in the presence of a transesterification catalyst being a compound using a metal of Group 1 or 2 on the periodic table.

Abstract: A novel polycarbonate diol is useful as a raw material for producing a polycarbonate diol-based polyurethane with a high degree of hardness, superior abrasion resistance, and superior hydrophilicity. The polyurethane is useful in paints, coating agents, synthetic leathers, artificial leathers, and highly-functional elastomers, or the like. The polycarbonate diol is also useful for producing an active-energy radiation curable polymer composition giving a cured film having superior contamination resistance and high degree of hardness. The curable polymer composition contains a urethane(meth)acrylate oligomer obtained from the polycarbonate diol. The polycarbonate diol is obtained, for example, by reacting two specific types of diols with diester carbonate in the presence of a transesterification catalyst. The catalyst has a metal of Group 1 or 2 on the periodic table. A metal content of the transesterification catalyst is 100 weight ppm or less.

Abstract: The present invention relates to a method for producing a polycarbonate diol, comprising subjecting a compound represented by the following formula (A) containing from 0.01 to 1.0 wt % of an aldehyde derivative, a compound represented by the following formula (B), and a carbonate compound to polycondensation by a transesterification reaction in the presence of a catalyst to produce a polycarbonate diol having a number average molecular weight of 250 to 5,000: HO—(CH2)10—OH??(A) HO—R1—OH??(B) wherein in the formula (B), R1 represents a substituted or unsubstituted divalent alkylene group having a carbon number of 3 to 20, wherein the compound of the formula (A) is not included by the formula (B).

Abstract: Provided is a polycarbonate polyol used as a raw material of a polyurethane that has an excellent balance of flexibility, mechanical strength and solvent resistance. The polycarbonate polyol includes structural units derived from a polyhydric alcohol and has a hydroxyl value of 20 to 450 mg KOH/g. The polyhydric alcohol includes: a diol (A) containing not less than 70% by weight of a specific oxyalkylene glycol (A1); and a trihydric to hexahydric branched alcohol (B) having 3 to 12 carbon atoms. In the polycarbonate polyol, structural units derived from the branched alcohol (B) is contained in an amount of 0.005 to 5.0% by mole in the structural units derived from the polyhydric alcohol. A ratio of a structural unit (X1) represented by the following Formula (X1) in the structural units derived from the branched alcohol (B) is not higher than 50% by mole.

Abstract: The present invention relates to a method for producing a polycarbonate diol, comprising subjecting a compound represented by the following formula (A) containing from 0.01 to 1.0 wt % of an aldehyde derivative, a compound represented by the following formula (B), and a carbonate compound to polycondensation by a transesterification reaction in the presence of a catalyst to produce a polycarbonate diol having a number average molecular weight of 250 to 5,000: HO—(CH2)10—OH??(A) HO—R1—OH??(B) wherein in the formula (B), R1 represents a substituted or unsubstituted divalent alkylene group having a carbon number of 3 to 20, wherein the compound of the formula (A) is not included by the formula (B).