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: A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

Abstract: A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.

Abstract: A method of controlling a robot is disclosed in which the displacement of each of a plurality of kinematic pairs of a robot is detected by a detector, the present spatial position of a hand or tool of the robot is calculated on the basis of the detected displacement of each kinematic pair, a set position to be occupied by the hand or tool and a deviation of the present position of the hand or tool from the set position are calculated, the speed of the hand or tool is determined in accordance with the deviation, a desired displacement value or speed of each of the kinematic pairs is calculated from the speed of the hand, and actuators are controlled on the basis of the calculated displacement values or speeds of the kinematic pairs to drive the kinematic pairs.

Abstract: A control system and method for controlling a hand of an industrial robot are disclosed wherein the hand is driven at a predetermined speed along a polygonal path defined by a plurality of straight lines which interconnect a plurality of point coordinates taught to the robot. The straight lines are continuously interconnected by a parabola at predetermined locations in the vicinity of the centers of the straight lines, wherein the hand is continuously moved along the parabola from a straight line to the next straight line, and wherein the parabola is generated by dividing a span between two predetermined positions through arithmetic linear interpolation technique in a manner in which points located between the predetermined positions are defined on a straight line interconnecting the two predetermined positions.

Abstract: A part feeding and assembling system comprises a bowl feeder composed of storage container for storing parts to be assembled and a transporting track for transporting the parts in a row, the transporting path having an end opened in the interior of the container, a visual recognition apparatus for imaging the parts being transported, determining whether the part as imaged is proper for assembling currently carried out, and recognizing position and direction of the proper part, and a robot for picking up the proper part by generating pick-up position data of the robot on the basis of the data representative of the position and direction of the proper part and assembling it to a part to be assembled at other station. The robot picks up only the proper part from those being transported. The bowl feeder introduces the improper parts to the container through the opening so that they are again placed on the transporting path for being recirculated.

Abstract: A method for teaching an operation of a robot to the robot and its apparatus are disclosed in which a force sensor capable of sensing three-directional force components and three-directional moment components at the maximum is provided at the wrist of the robot. An operator for teaching the robot applies the force or the moment to the force sensor. The data representing the force or the moment is taken out from the sensor to drive the robot in the force or moment direction and the robot drive data thus collected are loaded into a memory device of the robot control unit. A plurality of directional parameters representing a position of the front end of the arm of the robot and a plurality of directional parameters representing a posture of the wrist define a state of the robot.

Abstract: An industrial robot of the articulated type including a swivelling pedestal capable of swivelling about a vertical axis by force of a drive motor, a first brachium supported for pivotal movement about a first axis disposed horizontally on the pedestal, a lever supported for pivotal movement about the first axis, a second brachium connected at one end to a pivoting end of the lever for pivotal movement, a forearm connected to the other end of the second brachium and a pivoting end of the first brachium for pivotal movement and cooperating with the first and second brachiums and the lever to constitute a quadric parallel motion mechanism, and a wrist mounted on one end of the forearm.

Abstract: A parts feeding and assembling system including a plurality of stockers containing a multiplicity of parts arranged in a disorderly manner, a separating and feeding mechanism for separating one part after another from the parts in the stockers and feeding same to a predetermined station, a tentatively positioning mechanism for tentatively positioning each part fed to the station by the separating and feeding mechanism, a parts posture discriminating mechanism for discriminating the posture of each part including the position and direction tentatively positioned by the tentatively positioning mechanism, a parts posture changing mechanism for changing the posture of each part in accordance with the result of discrimination of the part effected by the parts posture discriminating mechanism and an assembling mechanism for assembling each part in a predetermined position of an assembly of parts after the part has had its posture changed.

Abstract: An electrochemical alkaline cell of the type comprising an anode, cathode and electrolyte for generating electrical energy and exhibiting an output discharge voltage comprises a consumable anode composed of zinc-indium-mercury alloy. The indium constituent is present in an amount of from more than 2% to 10% by weight and the mercury constituent is present in an amount 2% to 14% by weight with respect to the weight amount of the zinc constituent thereby obtaining a cell discharge voltage at one voltage level during substantially the whole useful life of the cell due to consumption of the zinc constituent followed by an abrupt lowering of the cell discharge voltage to a distinctly lower voltage level for the remainder of the cell useful life due to consumption of the indium and mercury constituents. The abrupt change of the cell discharge voltage to the lower level signifies that the cell is near exhaustion and should be replaced.

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.