Abstract: A robot controller controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement path including an arc portion, the robot controller including: a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data; a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of frequency data of the centrifugal force.

Abstract: A robot controller controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement path including an arc portion, the robot controller including: a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data; a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of frequency data of the centrifugal force.

Abstract: A numerical controller and a robot controller share interpolation level move data obtained by recording position information for each interpolation period of a robot in association with an index. Based on the interpolation level move data, a preceding position of the robot after the passage of a time (lead time) for calculating a next preceding position since a reference time for interference check is calculated. And, based on the robot preceding position and a preceding position (machine preceding-position) of an axis of the machine after the passage of the lead time, interference between a machine and the robot is checked.

Abstract: A numerical controller and a robot controller share interpolation level move data obtained by recording position information for each interpolation period of a robot in association with an index. Based on the interpolation level move data, a preceding position of the robot after the passage of a time (lead time) for calculating a next preceding position since a reference time for interference check is calculated. And, based on the robot preceding position and a preceding position (machine preceding-position) of an axis of the machine after the passage of the lead time, interference between a machine and the robot is checked.

Abstract: A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.

Abstract: A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.

Abstract: A robot having a learning control function is disclosed. The robot includes a robot mechanism unit with a sensor on a part to be positionally controlled and a control unit for controlling the operation of the robot mechanism unit. The control unit includes a normal control unit for controlling the operation of the robot mechanism unit, and a learning control unit for operating the robot mechanism unit according to a task program and carrying out the learning to calculate the learning correction amount in order that position of the part of the robot mechanism unit to be controlled which is detected by the sensor approaches a target trajectory or a target position assigned for the normal control unit. The learning control unit calculates the maximum speed override that can be set with in the learning operation, and carries out the learning to calculate the learning correction amount while increasing the speed override a plurality of times until the maximum speed override is reached.

Abstract: A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.

Abstract: A robot having a learning control function is disclosed. The robot includes a robot mechanism unit with a sensor on a part to be positionally controlled and a control unit for controlling the operation of the robot mechanism unit. The control unit includes a normal control unit for controlling the operation of the robot mechanism unit, and a learning control unit for operating the robot mechanism unit according to a task program and carrying out the learning to calculate the learning correction amount in order that position of the part of the robot mechanism unit to be controlled which is detected by the sensor approaches a target trajectory or a target position assigned for the normal control unit. The learning control unit calculates the maximum speed override that can be set with in the learning operation, and carries out the learning to calculate the learning correction amount while increasing the speed override a plurality of times until the maximum speed override is reached.

Abstract: A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.

Abstract: It is intended to provide a compound inhibiting the activity of a protein having an amino acid sequence which is the same or substantially the same as one of the amino acid sequences represented by SEQ ID NOs: 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 62 and so on, or its salt; a compound inhibiting the expression of a gene of the above protein; an antisense nucleotide containing a base sequence which is complementary or substantially complementary to the base sequence of a DNA encoding the above protein or its partial peptide or a part of the base sequence; an antibody against the above protein or its partial peptide; and so on. The above compound, antisense nucleotide, antibody and so on are usable as a prophylactic/therapeutic agent for respiratory diseases, etc.

Abstract: It is intended to provide a compound inhibiting the activity of a protein having an amino acid sequence which is the same or substantially the same as one of the amino acid sequences represented by SEQ ID NOs: 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 62 and so on, or its salt; a compound inhibiting the expression of a gene of the above protein; an antisense nucleotide containing a base sequence which is complementary or substantially complementary to the base sequence of a DNA encoding the above protein or its partial peptide or a part of the base sequence; an antibody against the above protein or its partial peptide; and so on. The above compound, antisense nucleotide, antibody and so on are usable as a prophylactic/therapeutic agent for respiratory diseases, etc.

Abstract: A robot movement control method, in which a robot is moved along a smooth path (10, 11) determined based on a teaching path defined to pass a designated starting point (TP4), at least one intermediate point (TP5, TP6) and a terminal point (TP7), is disclosed. The smooth path is determined so that the coincidence between the actual path for robot movement and the teaching path is assured near the starting point (TP4) or the intermediate point.

Abstract: A method for controlling the trajectory of a robot, in which, in the cooperative operation of a leading robot having a work tool and a tracking robot gripping a workpiece, the position and the orientation of the work tool may be desirably controlled, even when the interpolative motion is carried out. The robots are cooperatively controlled such that the position and the orientation of a first tool coordinate system set on the work tool attached to the leading robot is moved along a desired trajectory on a second tool coordinate system set on the workpiece gripped by the tracking robot. During a playback operation after a teaching operation, the interpolative position data of the tracking robot is calculated by using the interpolative position data of the leading robot and the relative positions and the relative orientations data of the robots. The invention may be applied to a manual feed. The trajectory may be smoothed by filtering the interpolative position data.

Abstract: A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.