Abstract: A current limiting device includes a current limiter to limit a current to be carried to a drive within a range of a limit value. The limit value is set to change according to a speed of the drive.

Abstract: A deflection amount estimating device is provided for estimating an amount of deflection of a four-bar linkage structure part of a robotic arm. The four-bar linkage structure part swings in a given angle range. The deflection amount estimating device comprises processing circuitry configured to calculate a swing angle of the four-bar linkage structure part; calculate a load received by the four-bar linkage structure part, determine a stiffness value, corresponding to the swing angle of the four-bar linkage structure part, based on a stiffness-value determining function indicating a correlation between the stiffness value and the swing angle of the four-bar linkage structure part, the stiffness value indicating a value of each element in a stiffness matrix associating the load with the amount of deflection of the four-bar linkage structure part; and calculate the amount of deflection of the four-bar linkage structure part based on the load and the stiffness matrix.

Abstract: In a robotic surgical system, a controller is configured or programmed to change at least one of a level of an operation start assisting force, a level of an in-operation assisting force, or a level of a braking force based on a level change operation of an operator received by a level change receiver.

Abstract: In a robotic surgical system, an operation unit includes a drive to assist an operation of an operator. A controller is configured or programmed to control the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated.

Abstract: A deflection amount estimating device is provided for estimating an amount of deflection of a four-bar linkage structure part of a robotic arm. The four-bar linkage structure part swings in a given angle range. The deflection amount estimating device comprises processing circuitry configured to calculate a swing angle of the four-bar linkage structure part; calculate a load received by the four-bar linkage structure part, determine a stiffness value, corresponding to the swing angle of the four-bar linkage structure part, based on a stiffness-value determining function indicating a correlation between the stiffness value and the swing angle of the four-bar linkage structure part, the stiffness value indicating a value of each element in a stiffness matrix associating the load with the amount of deflection of the four-bar linkage structure part; and calculate the amount of deflection of the four-bar linkage structure part based on the load and the stiffness matrix.

Abstract: In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.

Abstract: In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.

Abstract: A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.

Abstract: A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.

Abstract: An electronic device is composed of a reflector provided so as to cover a plug of a cabinet (sub-rack) into which a plug-in unit is plugged, and reflecting an electromagnetic wave which leaks from the plug; and a cable support supporting a cable connected to the plug-in unit and taken out of the plug, and forming an absorber which absorbs the electromagnetic wave reflected by the reflector.