Abstract: The present invention provides an image recognition method whereby the influence of noise due to fluctuations of the ambient environment can be minimized and which has good response and high recognition accuracy, without using binary processing.

Abstract: By a first homogeneous transformation matrix representing a position and orientation of a moving body in an absolute space, and a second homogenous transformation matrix representing a position and attitude of a manipulator in its operating space, position and orientation information of the moving body in the absolute space, and position and attitude information of the manipulator in its operating space are represented by a same representing method, and furthermore, the position and attitude of the manipulator are controlled on the basis of information of a third homogeneous transformation matrix representing the position and attitude of the manipulator including the position and orientation information of the moving body in the absolute space obtained on the basis of the first and second homogeneous transformation matrices.

Abstract: A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the attitude of the end effector are controlled based on input target values for the position and attitude of the end effector, with a second control methodology, wherein the x-axis and y-axis coordinates of the end effector are controlled responsive to image data captured by a camera mounted to the manipulator.

Abstract: By a first homogeneous transformation matrix representing a position and orientation of a moving body in an absolute space, and a second homogenous transformation matrix representing a position and attitude of a manipulator in its operating space, position and orientation information of the moving body in the absolute space, and position and attitude information of the manipulator in its operating space are represented by a same representing method, and furthermore, the position and attitude of the manipulator are controlled on the basis of information of a third homogeneous transformation matrix representing the position and attitude of the manipulator including the position and orientation information of the moving body in the absolute space obtained on the basis of the first and second homogeneous transformation matrices.

Abstract: Concentrations of cobalt and copper of electrolysis solution for electrowinning of zinc can be measured any time during electrowinning operation by continuously sampling the solution, diluting it, adding coloring reagent to the flow of the solution and spectrophotometrically analyzing the solution.The cobalt and copper as deleterious impurities can be removed continuously and automatically by measuring their concentrations by the above method and adding precipitation reagents for them in an amount calculated by a microcomputer on the basis of said analysis.

Abstract: The present invention is directed to a method of and an apparatus for guiding a moving object such as an unattended transporting vehicle traveling in a factory to travel along a preset traveling path including curves.

Abstract: This invention relates to a running control apparatus and method for calculating the running positions and directions of the automatic guided vehicle in response to detected outputs of the magnetic field intensity of magnets arranged at fixed points on the running course in two-dimension by being detected for several times at a predetermined timing by a plurality of magnetic detecting elements which are aligned in a direction intersecting the moving direction of the vehicle, correcting said running positions and directions, and controlling the automatic guided vehicle.