Abstract: An ultrasonic phased array inspection device includes flexible plates, array probes, and a connection body. The flexible plates extend along an inner circumferential surface of a tube. The array probes are disposed on the flexible plates and send and receive an ultrasonic wave based on the phased array technique. The array probes have a set of a predetermined number of piezoelectric elements arranged in the inner circumferential direction of the tube. The connection body is connected to the flexible plates. The connection body has pulled parts that are pulled in the axial direction of the tube as force receiving parts that receive a force to make the connection body move in the axial direction of the tube.

Abstract: A method of correcting an angular transmission error for a reducer of creating correction data for correction of an angular transmission error of the reducer in a robot system including an arm, the reducer having an input shaft and an output shaft, a motor, an encoder, and an inertial sensor, includes rotating the arm in an input rotation angular range smaller than a necessary input rotation angular range, measuring and recording the angular transmission error, determining whether or not an accumulated value of measurement times is equal to or larger than a predetermined value, when the accumulated value is smaller than the predetermined value, measuring the angular transmission error of the reducer and updating a record, and, when the accumulated value is equal to or larger than the predetermined value, creating the correction data based on the recorded angular transmission error of the reducer.

Abstract: A method of correcting an angular transmission error for a reducer of creating correction data for correction of an angular transmission error of the reducer in a robot system including an arm, the reducer having an input shaft and an output shaft, a motor, an encoder, and an inertial sensor, includes rotating the arm in an input rotation angular range smaller than a necessary input rotation angular range, measuring and recording the angular transmission error, determining whether or not an accumulated value of measurement times is equal to or larger than a predetermined value, when the accumulated value is smaller than the predetermined value, measuring the angular transmission error of the reducer and updating a record, and, when the accumulated value is equal to or larger than the predetermined value, creating the correction data based on the recorded angular transmission error of the reducer.