Abstract: A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.

Abstract: A force detection device of the present invention is for detecting an operation force of an operator applied in a uniaxial direction, and includes a force receiving part for receiving the operation force, a force detection part placed on a support for detecting the uniaxial force, a force propagation body disposed reciprocatably along the uniaxial direction on the support for propagating the operation force received by the force receiving part to the force detection part, a guide provided on the support for guiding reciprocation of the force propagation body, a preload receiving part pivoted to the force propagation body and capable of swinging within a plane along the uniaxial direction, and a pair of coil springs coupled to both sides of the preload receiving part with a pivot axis thereof held therebetween for giving a preload to the force detection part.

Abstract: An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

Abstract: The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source

Abstract: A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.

Abstract: A force detection device of the present invention is for detecting an operation force of an operator applied in a uniaxial direction, and includes a force receiving part for receiving the operation force, a force detection part placed on a support for detecting the uniaxial force, a force propagation body disposed reciprocatably along the uniaxial direction on the support for propagating the operation force received by the force receiving part to the force detection part, a guide provided on the support for guiding reciprocation of the force propagation body, a preload receiving part pivoted to the force propagation body and capable of swinging within a plane along the uniaxial direction, and a pair of coil springs coupled to both sides of the preload receiving part with a pivot axis thereof held therebetween for giving a preload to the force detection part.

Abstract: A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.

Abstract: An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

Abstract: A table angle controlling method capable of effectively preventing an article placed on a table (20), from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive device for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

Abstract: A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.

Abstract: The invention provides a table angle controlling method capable of effectively preventing an article placed on a table (20), for example, from falling off by tilting the table so that the synthetic vector of horizontal acceleration and gravitational acceleration which act on the table acts on the table perpendicular thereto. The method has the steps of measuring the synthetic vector of horizontal acceleration and gravitational acting on the table (20) or a carriage (11) with the movement of the carriage (11), and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto. Alternatively the method has the steps of estimating acceleration acting on the table from a speed command value input to drive means for the carriage (11) for moving the carriage, calculating the synthetic vector of the estimated horizontal acceleration and gravitational acceleration, and tilting the table so that the synthetic vector obtained acts on the table perpendicular thereto.

Abstract: A robot distributed control system includes a host controller issuing a first command and a plurality of communication controllers connected to the host controller in a tree-structured manner. The communication controller obtains a control parameter by interpreting the first command, or issues a second command by executing an application program in response to the first command and then obtains a control parameter. In either case, the control parameter is output from the communication controller to the motor controller by which a plurality of motors are controlled.

Abstract: A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.

Abstract: The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source

Abstract: A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user's voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.

Abstract: A linear compressor according to the invention is for generating compressed gas and includes two pairs of pistons 608a, 608b and cylinders 607a and 607b coaxially provided and facing opposite to each other, a shaft 603 having pistons 608a and 608b at its ends, coil springs 605a and 605b coupled to shaft 603 for returning a piston departed from a neutral point to the neutral point, and a linear motor 613 for causing shaft 603 to axially move back and forth, thereby generating compressed gas alternately in two compression chambers 611a and 611b. Thus, the non-linear force of the compressed gas acting upon the pistons may be divided into two/reversed in phase. As a result, as compared to a conventional structure having only a single piston, the motor thrust may be reduced and linearized for the purpose of improving the efficiency. Furthermore, the size of the device may be reduced as well as the vibration/noises caused thereby may be reduced.

Abstract: A member is disclosed which includes a hard carbon film provided through an interlayer or directly on a main body such as a vane. A mixed layer is formed within the main body or interlayer adjacent to an outer surface of the main body or interlayer. The mixed layer contains carbon and a constituent element of either the main body or the interlayer. The mixed layer has a carbon content gradient in its thickness direction so that a carbon content in a thickness portion thereof closer to an outer surface of the mixed layer is higher than in a thickness portion thereof remoter from the outer surface of the mixed layer.

Abstract: A linear compressor according to the invention is for generating compressed gas and includes two pairs of pistons 608a, 608b and cylinders 607a and 607b coaxially provided and facing opposite to each other, a shaft 603 having pistons 608a and 608b at its ends, coil springs 605a and 605b coupled to shaft 603 for returning a piston departed from a neutral point to the neutral point, and a linear motor 613 for causing shaft 603 to axially move back and forth, thereby generating compressed gas alternately in two compression chambers 611a and 611b. Thus, the non-linear force of the compressed gas acting upon the pistons may be divided into two/reversed in phase. As a result, as compared to a conventional structure having only a single piston, the motor thrust may be reduced and linearized for the purpose of improving the efficiency. Furthermore, the size of the device may be reduced as well as the vibration/noises caused thereby may be reduced.

Abstract: A member is disclosed which includes a hard carbon film provided through an interlayer or directly on a main body such as a vane. A mixed layer is formed within the main body or interlayer adjacent to an outer surface of the main body or interlayer. The mixed layer contains carbon and a constituent element of either the main body or the interlayer. The mixed layer has a carbon content gradient in its thickness direction so that a carbon content in a thickness portion thereof closer to an outer surface of the mixed layer is higher than in a thickness portion thereof remoter from the outer surface of the mixed layer.

Abstract: In a linear compressor driving apparatus, a position instructing portion (31) outputs a position instruction value Pref of a piston in accordance with an equation A*sin .omega.t. A position control portion (33) calculates a speed instruction value Vref by multiplying difference between position instruction value Pref and position present value Pnow by a constant Gv. A speed control portion (35) calculates a current instruction value Iref by multiplying a difference between speed instruction value Vref and speed present value Vnow by a constant Gi. A current control portion (37) controls a power source (3) so that current present value Inow becomes equal to the current instruction value Iref. Phase control portion (38) adjusts .omega. and Gi so as to eliminate phase difference between speed present value Vnow and current instruction value Iref. Since thrust of linear motor can be directly and appropriately controlled in accordance with the load condition, high efficiency is obtained.