Abstract: In order to provide a method of detecting seam characteristic points which makes it possible to accurately and quickly detect seam characteristic points, which are used as work target positions, by using coordinate data of a series of distance points detected by a sensor, when sealing is performed by a robot (1) equipped with a sensor (2), seam characteristic points P of an object are detected, a distance to an arbitrary cross section of an object is detected by the sensor (2), the data obtained through the measurement are converted into coordinate data of a series of distance points arranged in a predetermined order, a statistic value regarding the distance between paired adjacent distance points among the series of distant points is calculated so as to obtain a threshold level for judging discontinuity, based on the statistic value, the distance between paired adjacent distance points is compared with the discontinuity threshold level so as to detect a pair of adjacent distance points which are separated fr

Abstract: A tracking apparatus and method for controlling the position and movement of a manipulator which holds an effector. An actual work path drawn on a workpiece is detected by a sensor. Predetermined taught path data is amended according to the detected work path, and the effector held by the manipulator is drawn to exactly track the work path on the workpiece. The effector is controlled so that the effector tracks the work path accurately even under conditions when detection data from the sensor has low reliability or contains errors.

Abstract: The present invention provides a dynamic model parameter identification system consisting of a parameter classifying part and a motion planning part. The parameter classifying part approximates the respective links forming the manipulator by means of a symmetrical and homogeneous virtual solid link, calculates the inertial parameters, and finally classifies the calculated inertial parameters into parameter groups. The motion planning part calculates the condition number for the parameter coefficient sub-matrix, and calculates the number of equilibriums which is shown by the quotient of the maximum and minimum values of the vector normal of the rows of the coefficient sub-matrix. The motion planning section then sets the motion for parameter identification so that the condition number and number of equilibriums are both below predetermined values.

Abstract: A magnetic disc type memory device swinging actuator is constituted by a plurality of a driving assemblies juxtaposed on a stationary shaft and extending in the opposite direction. Each driving assembly include a head arm, a magnetic head mounted on one end of the head arm, a coil supporting member for supporting a flat coil and extending in the opposite direction to the head arm, and first and second permanent magnets spaced from the coil in an axial direction of the shaft and also spaced in a direction of arrangement of the flat coil. The first and second permanent magnets are magnetized in the axial direction of the shaft so that poles of opposite polarities confront the flat coil. The first and second permanent magnets are mounted on a common yoke and the flat coils are disposed in a closed magnetic flux path including the first and second permanent magnets and the yokes.