Abstract: A joint torque computing unit computes a joint torque T1 of a joint necessary to move a joint angle to a target joint angle. A summing unit obtains a sum value U1 indicating the sum of generated forces generated at actuators, from a target stiffness. A setting unit sets a restricting coefficient h1 to a value greater than 1 when performing non-antagonistic driving, and to 1 when performing antagonistic driving. A restricting unit takes |T1|<U1×r×h1 as restricting condition where r is moment arm radius, and restricts the joint torque T1 to a range satisfying the conditions. A generated force computing unit computes the generated force of the actuators based on the restricted joint torque T1. The setting unit sets the restricting coefficient h1 to gradually near 1 when switching from non-antagonistic driving to antagonistic driving.

Abstract: Provided are a robot and a robot control method in which highly accurate positioning of a link is enabled without losing flexibility of a joint.

Abstract: A joint torque computing unit computes a joint torque T1 of a joint necessary to move a joint angle to a target joint angle. A summing unit obtains a sum value U1 indicating the sum of generated forces generated at actuators, from a target stiffness. A setting unit sets a restricting coefficient h1 to a value greater than 1 when performing non-antagonistic driving, and to 1 when performing antagonistic driving. A restricting unit takes |T1|<U1×r×h1 as restricting condition where r is moment arm radius, and restricts the joint torque T1 to a range satisfying the conditions. A generated force computing unit computes the generated force of the actuators based on the restricted joint torque T1. The setting unit sets the restricting coefficient h1 to gradually near 1 when switching from non-antagonistic driving to antagonistic driving.

Abstract: A color-processing device includes a storage section which stores reference data including reference values set for respective representative color values selected within the range of a predetermined number of gradations of a predetermined color for each of representative output parts selected from a predetermined number of output parts, a first specifying section which specifies an output part corresponding to the input value, a second specifying section which specifies a representative output part corresponding to the specified output part, a third specifying section which specifies a representative color value corresponding to a color value indicated by the input value, an obtaining section which obtains reference values corresponding to combinations of the specified representative output part and representative color value, and a calculating section which calculates an output value corresponding to the input value by interpolation using the obtained reference values.

Abstract: A color-processing device includes a storage section which stores reference data including reference values set for respective representative color values selected within the range of a predetermined number of gradations of a predetermined color for each of representative output parts selected from a predetermined number of output parts, a first specifying section which specifies an output part corresponding to the input value, a second specifying section which specifies a representative output part corresponding to the specified output part, a third specifying section which specifies a representative color value corresponding to a color value indicated by the input value, an obtaining section which obtains reference values corresponding to combinations of the specified representative output part and representative color value, and a calculating section which calculates an output value corresponding to the input value by interpolation using the obtained reference values.

Abstract: A joint torque computing unit computes joint torque T1 necessary to set a joint angle ? of a joint to a target joint angle ra. A summing unit obtains a sum value U1 representing a sum of generated force command values ue1 and uf1 as to mono-articular driving actuators, based on target stiffness rs of the joint. An elastic torque computing unit obtains elastic torque TPC1 according to elasticity of the mono-articular driving actuators acting on the joint. A restricting unit restricts the total value of the joint torque T1 and the elastic torque TPC1, so as to satisfy restriction conditions of |T1+TPC1|<U1×r, where r represents the moment arm radius of the link. A generated force computing unit computes the generated force command values ue1 and uf1 of the mono-articular driving actuators, based on the total value (T1+TPC1) restricted by the restricting unit.

Abstract: A puncture planning apparatus has: a simulation unit that simulates movement of an organ and a puncture needle by simulation using an organ model; and a planning unit that plans, based on the simulation result, how to move the puncture needle when an actual organ is punctured. The simulation unit executes a plurality of times of the simulation of an operation to advance the puncture needle while correcting an angle of the puncture needle so as to follow the movement of the target segment due to deformation of the organ, conditions of an advancement speed of the puncture needle are changed for each of the plurality times of the simulation, and the planning unit performs planning using the best simulation result out of the plurality of simulation results acquired under different conditions of the advancement speed.

Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.

Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.

Abstract: A control apparatus executes feedback control on an endless belt driven in a condition having a periodic disturbance to compensate an influence of the periodic disturbance. A disturbance other than the periodic disturbance is added to the belt during feedback control, and the control apparatus obtains phase angles of the periodic disturbance on timing when the other disturbance is added. The control apparatus obtains interpolation coefficients that respectively interpolate values of feedforward inputs in the case when the other disturbance is added at the time when phase angles of the periodic disturbance stored in a memory are a plurality of typical angles, and adds values obtained by adding values obtained by multiplying the interpolation coefficients respectively by the feedforward inputs to a control value of feedback control as a correction value.

Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.

Abstract: The puncture control system includes a trajectory error compensation filter for outputting a control signal for compensating for the error of a puncture needle from a target trajectory based on information on the position of the puncture needle obtained by a detector, a displacement compensation filter for which initial control parameters are determined based on a model representing characteristics of an organ, and an adder for outputting an added signal obtained by adding outputs of the trajectory error compensation filter and the displacement compensation filter. The organ model is used to predict a displacement of a puncture target position and sequentially determine a course of the puncture needle.

Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.

Abstract: An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.

Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.

Abstract: An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.

Abstract: Disclosed is an image forming apparatus that makes it possible to suppress the scale enlargement of the electric circuit, so as to make the apparatus highly flexible. The apparatus forms an image based on image data acquired by applying a rendering operation to depiction commands and includes: a converting section to convert input data to the depiction commands; a first rendering section to apply the rendering operation to a first depiction command; a second rendering section to apply the rendering operation to a second depiction command; a reading section to read out first information from the storage section; a determining section to determine whether the first rendering section or the second rendering section should apply the rendering operation to each of the depiction commands; and a control, section to make either the first rendering section or the second rendering section apply the rendering operation to each of the depiction commands.

Abstract: An image forming system comprising: a controller, provided with a list creation means to create a display list by analyzing PDL data, a decompression means to decompress compressed image data, a drawing means to execute drawing based on the image data, and a print data creation means to create the print data based on the image data, for sending the print data to a printer; and a rasterization accelerator, provided with a second drawing means to execute drawing processing based on the display list, and a compression means to compress the image data drawn by the second drawing unit, for sending the image data to the controller, wherein the rasterization accelerator comprises a determination means for determining, based on the information of the display list, whether to execute or not the compression of the image data, and a compression method in case of executing the compression.

Abstract: A joint torque computing unit computes a joint torque T1 of a joint necessary to move a joint angle to a target joint angle. A summing unit obtains a sum value U1 indicating the sum of generated forces generated at actuators, from a target stiffness. A setting unit sets a restricting coefficient h1 to a value greater than 1 when performing non-antagonistic driving, and to 1 when performing antagonistic driving. A restricting unit takes |T1|<U1×r×h1 as restricting condition where r is moment arm radius, and restricts the joint torque T1 to a range satisfying the conditions. A generated force computing unit computes the generated force of the actuators based on the restricted joint torque T1. The setting unit sets the restricting coefficient h1 to gradually near 1 when switching from non-antagonistic driving to antagonistic driving.

Abstract: A joint torque computing unit computes joint torque T1 necessary to set a joint angle ? of a joint to a target joint angle ra. A summing unit obtains a sum value U1 representing a sum of generated force command values ue1 and uf1 as to mono-articular driving actuators, based on target stiffness rs of the joint. An elastic torque computing unit obtains elastic torque TPC1 according to elasticity of the mono-articular driving actuators acting on the joint. A restricting unit restricts the total value of the joint torque T1 and the elastic torque TPC1, so as to satisfy restriction conditions of |T1+TPC1|<U1×r, where r represents the moment arm radius of the link. A generated force computing unit computes the generated force command values ue1 and uf1 of the mono-articular driving actuators, based on the total value (T1+TPC1) restricted by the restricting unit.