Abstract: Provided are a command generation device and a computer program with which a robot numerical value control command can be generated without the need for consideration of coordinate values and configuration information. A numerical value control device 2 is provided with a robot numerical value control command generation unit 22 that generates a robot numerical value control command for a robot in accordance with a numerical value control program. The robot numerical value control command generation unit 22 generates the robot numerical value control command on the basis of: at least one of a motion type of a robot 30, a motion speed of the robot 30, a positioning type of the robot 30, and a coordinate value type of the robot 30; coordinate values at a robot teaching point acquired on the basis of the coordinate value type of the robot 30; and configuration information relating to the robot 30 at the robot teaching point.

Abstract: A numerical control system 1 comprises a robot control device 6 that controls an action of a robot 30, and a numerical control device 5 that is communicably connected to the robot control device 6, and controls an action of a machine tool 2. The robot control device 6 comprises: a storage unit 61 that stores a plurality of robot programs determined for each operating action with respect to a target of an operation, the target of the operation being the machine tool 2 and the numerical control device 5; a data transmission and reception unit 69 that acquires a state of the target of the operation; a program selection and activation unit 63 that, among the plurality of programs stored in the storage unit 61, selects and activates a program according to an analysis result: and an action control unit 64 that controls the action of the robot 30 on the basis of the activated robot program.

Abstract: The objective of the present invention is to provide a technology enabling interference between a robot and a peripheral object to be reliably avoided, while confirming the safety of a generated robot path. A robot control device 3 is provided with: a data transmitting and receiving unit 32 for acquiring a robot path generated in such a way as to avoid interference between a robot 30 and a peripheral object, on the basis of a three-dimensional model of the robot 30 and the peripheral object; an interference determining unit 35 for determining, for each prescribed sector, whether there is a high probability of the robot 30 interfering with the peripheral object when the robot 30 is moved in accordance with the acquired robot path; and an override changing unit 36 for lowering the speed of the robot 30 or stopping the movement of the robot 30 for sectors in which the interference determining unit 35 has determined that the probability of interference is high.

Abstract: A numerical control system 1 is provided with a numerical control device 5 and a robot control device 6 The numerical control device 5 is provided with: a robot command generating unit 55 which generates a robot command for each robot command block; a robot program launch command unit 56; and a data transmitting and receiving unit 59 which transmits to the robot control device 6, in advance as a batch, a plurality of robot commands generated on the basis of a plurality of robot command blocks, as a robot command group, and then transmits a program launch command to the robot control device 6. The robot control device 6 is provided with: a robot program generating unit 61 which generates a robot program on the basis of the robot commands; and an operation control unit 65 which, after a robot program based on the robot command group has been generated, operates the robot program upon receipt of the program launch command.

Abstract: A numerical control system 1 is provided with: a numerical control device 5 including a machine tool control module 50; a robot controller 6 including a robot control module 60 for controlling the movement of a robot 3; and a variable storage unit 58 for storing the values of a plurality of variables that can be read and written by both modules 50, 60. The machine tool control module 50 reads the value of a second variable stored in a second storage area 582 of the variable storage unit 58, controls the movement of a machine tool 2 on the basis of the value that has been read, and rewrites the value of a first variable stored in a first storage area 581, and the robot control module 60 reads the value of the first variable, controls the movement of the robot 3 on the basis of the value of the first variable that has been read, and rewrites the value of the second variable.

Abstract: A numerical control device 5 controls the motion of a machine tool 2 and generates a movement command for a robot control device 6 controlling the motion of a robot 3 to move a control point of the robot 3.

Abstract: A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Abstract: This numerical control system comprises: a numerical control device 5 that generates a high-level command signal including a robot command signal for a robot 3 according to a numerical control program; and a robot control device 6 that generates a robot control signal for controlling the operation of the robot 3 on the basis of the high-level command signal and inputs the robot control signal to the robot 3. The robot control device 6 includes a control unit 60 that generates the robot control signal by selectively executing one among a dynamic executable file generated on the basis of a dynamic executable file creation command signal and the robot command signal and a static executable file selected on the basis of a static executable file start command signal.

Abstract: A numerical control system 1 comprises a numerical control device 5 for generating a machine tool command signal and a robot command signal, and a robot control device 6 for controlling the operation of a robot 3 on the basis of the robot command signal. The numerical control device 5 includes a coordinate form information management unit 524 for managing coordinate information according to a designated coordinate format that is based on a numerical control program, and a robot command signal generation unit 525 for generating the robot command signal on the basis of said coordinate information and a robot numerical control program.

Abstract: An imaging device including an imaging unit that includes an imaging element converting a received subject image into an image signal and an imaging lens, and at least one of the imaging lens or the imaging element being movable along a first direction and a second direction intersecting the first direction, the first and second directions being in a plane orthogonal to a direction of an optical axis of an incidence ray; a shake detector that detects a shake of the imaging unit; and a processor configured to correct a shake of the subject image by moving at least one of the imaging lens or the imaging element relative to one another according to the detected shake, wherein the first and second directions are inclined with respect to a horizontal direction and a vertical direction of an imaging field of view of the imaging unit by an angle of 45 degree, respectively.

Abstract: An object of the present invention is to provide a lens apparatus, a camera system, and a lens driving method capable of achieving both a driving range and a resolution of a focus lens. A lens group having a large number of stopable positions due to a high driving resolution, a long driving range, and the like may be set as a first focus lens group. In this case, depending on communication restrictions (command bit length) between a camera body and the lens apparatus, the lens apparatus may not be driven at the desired position and resolution. Therefore, in the lens apparatus according to the first aspect of the present invention, a lens having a small number of stopable positions is driven as a first focus lens group through communication, and the second focus lens group is driven without being restricted by a communication command through calculation in the lens apparatus. Thereby, it is possible to achieve both the driving range and the resolution of the focus lens.

Abstract: To provide a numerical control method and a processing device capable of generating a plurality of machine-specific machining programs, from one machining program to a single workpiece. A numerical control method is to be executed by a computer. The numerical control method includes a generating step of dividing, into a plurality of paths, a machining path of an original NC program for a machine configured to machine a single workpiece, corresponding to contents of machining to the workpiece in the original NC program, and of generating, on the basis of the respective divided machining paths, individual NC programs for machines corresponding to the respective machining paths.

Abstract: An imaging device including an imaging unit that includes an imaging element converting a received subject image into an image signal and an imaging lens, and at least one of the imaging lens or the imaging element being movable in a direction orthogonal to a direction of an optical axis of an incidence ray; a shake detector that detects a shake of the imaging unit; and a processor configured to correct a shake of the subject image by moving at least one of the imaging lens or the imaging element relative to one another according to the detected shake, wherein the processor is further configured to determine whether or not a movable range of the relative movement, in which the shake of the subject image is corrected, is limited to an inside of a rectangle according to at least one of an imaging mode, an imaging timing, or a relative position of the imaging lens and the imaging element.

Abstract: A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Abstract: An imaging device including an imaging unit that includes an imaging element converting a received subject image into an image signal and an imaging lens, and at least one of the imaging lens or the imaging element being movable in a direction orthogonal to a direction of an optical axis of an incidence ray; a shake detector that detects a shake of the imaging unit; and a processor configured to correct a shake of the subject image by moving at least one of the imaging lens or the imaging element relative to one another according to the detected shake, wherein the processor is further configured to determine whether or not a movable range of the relative movement, in which the shake of the subject image is corrected, is limited to an inside of a rectangle according to at least one of an imaging mode, an imaging timing, or a relative position of the imaging lens and the imaging element.

Abstract: An object of the present invention is to provide a shake correction device, an imaging apparatus, and a shake correction method capable of accurately correcting a parallel shake. According to a shake correction device according to an aspect of the present invention, since a rotation radius to be used in correction of a shake is determined based on a calculated rotation radius and whether or not a polarity corresponding to the calculated rotation radius is different from a polarity corresponding to a rotation radius stored in advance and an image blur is corrected based on a correction amount corresponding to the determined rotation radius, it is possible to accurately correct a parallel shake by taking influence on a polarity of correction due to the updating of the rotation radius into consideration. The “rotation radius stored in advance” may be a fixed value or may be updated during a period of the shake correction.

Abstract: There are provided an imaging device and an imaging control method that can achieve both subject-following performance during a shake-correcting operation and a reduction in the size of a lens. The object is achieved by an imaging device including a shake detection unit that continuously detects a shake, a correction unit that corrects a shake of a subject image by moving an imaging lens and an imaging element relative to each other in a direction orthogonal to a direction of an optical axis of an incidence ray according to the detected shake, and a control unit that limits a movable range of relative movement to the inside of a rectangle included in a circle, which is the maximum movable range, in a case where imaging is performed at a certain frame rate.

Abstract: A machining system has a machine tool, a numerical controller which moves a machining table of the machine tool according to a machining program, a robot which performs a process to a work on the machining table, and a robot control unit, and the numerical controller is configured to send a current position coordinate of the machining table, a prefetched position coordinate of the machining table, which is calculated by prefetching the machining program and carrying out an acceleration and deceleration interpolation, and time information, which corresponds to the current position coordinate and the prefetched position coordinate, to the robot control unit, and the robot control unit controls the robot so that the distal end portion of the robot follows the movement of the machining table by using the current position coordinate, the prefetched position coordinate, and the time information, which are received from the numerical controller.

Abstract: To provide a numerical control method and a processing device capable of generating a plurality of machine-specific machining programs, from one machining program to a single workpiece. A numerical control method is to be executed by a computer. The numerical control method includes a generating step of dividing, into a plurality of paths, a machining path of an original NC program for a machine configured to machine a single workpiece, corresponding to contents of machining to the workpiece in the original NC program, and of generating, on the basis of the respective divided machining paths, individual NC programs for machines corresponding to the respective machining paths.

Abstract: There are provided a shake detection device of an imaging device, a shake correction device, an imaging device, and a shake detection method which are capable of performing high-accurate shake detection and shake correction. A shake detection device subtracts a reference value from a sensor output of a gyro sensor, and extracts a low frequency component and a high frequency component from a sensor output after the reference value subtraction by using an LPF and a BPF. A first determination unit determines whether or not the imaging device is in a fixed-point imaging state based on the LPF output and the BPF output. In a case where it is determined that the imaging device is in the fixed-point imaging state, a reference value shift amount calculation unit calculates a shift amount (reference value shift amount) for the reference value based on the LPF output for a period during which the determination is performed.