Abstract: A motor control apparatus according to an embodiment includes a torque current controller, an excitation current controller, and an estimation unit. The torque current controller that performs torque current control on a motor based on a deviation between a feedback signal based on a detection result of a sensor that can detect torque or acceleration of the motor and a torque current reference. The excitation current controller that performs excitation current control on the motor based on an excitation current reference on which a high-frequency current reference is superimposed. The estimation unit that estimates at least one of a position and a velocity of the motor based on the deviation and the high-frequency current reference.

Abstract: A notch filter includes: an attenuation filter configured to acquire a signal containing a vibrational component generated in association with movement of a motor to perform attenuation of the vibrational component; and an attenuation controller configured to control an attenuation amount in the attenuation, corresponding to a movement speed of the motor.

Abstract: A motor drive system is provided with a motor, a torque sensor provided between the motor and a load, and a circuitry that controls driving of the motor. The circuitry is configured to execute estimating at least either of a speed or a position of the motor based on a torque detection signal detected by the torque sensor.

Abstract: This disclosure discloses a robot hand of underactuated mechanism. The robot hand includes a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion, three finger portions each including a plurality of links having bases coupled to the palm portion and coupled being capable of flexion, and a shape-fitting mechanism which is provided in at the finger portion, and which enables to grasp an object to be grasped in an enclosing manner with the finger portions by performing providing torsional displacement to the links.

Abstract: This disclosure discloses a multijoint robot. The multijoint robot has a plurality of link members and a plurality of joints. At least one of the plurality of joints includes a double joint structure comprising a first link member, an intermediate link member connected to the first link member rotatably around a first joint axis, and a second link member which is connected to the intermediate link member rotatably around a second joint axis and in which two small link members are connected capable of relative rotation around a rotating axis along a longitudinal direction of the link member.

Abstract: A nonparallel-axes transmission mechanism includes conical pulleys. A first conical pulley includes a first rotation axis and a first imaginary conical surface including a center line identical to the first rotation axis. A second conical pulley includes a second rotation axis not parallel to the first rotation axis, and a second imaginary conical surface including a center line identical to the second rotation axis. The first and second imaginary conical surfaces include matching apexes. Support shafts rotatably support the conical pulleys. A fan belt transmits power from the first conical pulley to the second conical pulley and contacts the first and second imaginary conical surfaces. The first conical pulley includes a shape of the first imaginary conical surface removing a shape of the contacting fan belt. The second conical pulley includes a shape of the second imaginary conical surface removing a shape of the contacting fan belt.

Abstract: There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.

Abstract: A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

Abstract: A robot includes an articulation mechanism that includes a pair of opposing bevel gears, a pair of motors that rotate the pair of opposing bevel gears independently of each other, an output bevel gear that is engaged with each of the pair of opposing bevel gears and is supported so as to be rotatable and so as to be swingable in rotational directions of the pair of opposing bevel gears, and an output body that is secured to the output bevel gear, a cover-and-support structure that is a supporting member and functions as a cover covering the outside of the entirety of the articulation mechanism, and a swing mechanism that supports the cover-and-support structure such that the cover-and-support structure is swingable in the rotational directions of the pair of opposing bevel gears.

Abstract: A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

Abstract: There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.