Abstract: An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

Abstract: The present invention provides a compound of Formula (I) as described herein, or a pharmaceutically acceptable salt or a solvate thereof. The present invention also provides pharmaceutical compositions comprising one or more said compounds, and methods for using said compounds for treating or preventing a thromboses, embolisms, hypercoagulability or fibrotic changes.

Abstract: An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

Abstract: The present invention provides a compound of Formula (I) as described herein, or a pharmaceutically acceptable salt or a solvate thereof. The present invention also provides pharmaceutical compositions comprising one or more said compounds, and methods for using said compounds for treating or preventing a thromboses, embolisms, hypercoagulability or fibrotic changes.

Abstract: The present invention provides a compound of Formula (I) as described herein, or a pharmaceutically acceptable salt or a solvate thereof. The present invention also provides pharmaceutical compositions comprising one or more said compounds, and methods for using said compounds for treating or preventing a thromboses, embolisms, hypercoagulability or fibrotic changes.

Abstract: To provide an acceleration/deceleration control method, apparatus and the like for determining the acceleration/decelerations of motors according to, for example, the drive directions, acceleration and deceleration of the motors by a simple algorism. A gravity torque calculation unit 1A calculates gravity torque acting on a joint drive motors for operating a manipulator 100 as a machine having joints, and an acceleration/deceleration calculation unit 1D calculates an acceleration speed and/or a deceleration speed of the joint drive motor based on an acceleration/deceleration correction coefficient and a set basic acceleration/deceleration, wherein the acceleration/deceleration correction coefficient is calculated by an acceleration/deceleration correction coefficient calculation unit 1B based on the gravity compensation coefficient selected from a plurality of preset gravity compensation coefficients according to a drive condition affected by gravity and on the gravity torque.

Abstract: A robot control device is connected to an industrial robot through a connection cable. The robot control device has a casing that accommodates an actuator controller. A side surface of the casing has a stepped portion. The stepped portion includes a connecting portion located in such a manner that the connection cable extends along the side surface while arranged on the side surface. The connection cable is connected to the connecting portion. This configuration saves space of the robot control device.

Abstract: A robot control device is connected to an industrial robot through a connection cable. The robot control device has a casing that accommodates an actuator controller. A side surface of the casing has a stepped portion. The stepped portion includes a connecting portion located in such a manner that the connection cable extends along the side surface while arranged on the side surface. The connection cable is connected to the connecting portion. This configuration saves space of the robot control device.

Abstract: To provide an acceleration/deceleration control method, apparatus and the like for determining the acceleration/decelerations of motors according to, for example, the drive directions, acceleration and deceleration of the motors by a simple algorism. A gravity torque calculation unit 1A calculates gravity torque acting on a joint drive motors for operating a manipulator 100 as a machine having joints, and an acceleration/deceleration calculation unit 1D calculates an acceleration speed and/or a deceleration speed of the joint drive motor based on an acceleration/deceleration correction coefficient and a set basic acceleration/deceleration, wherein the acceleration/deceleration correction coefficient is calculated by an acceleration/deceleration correction coefficient calculation unit 1B based on the gravity compensation coefficient selected from a plurality of preset gravity compensation coefficients according to a drive condition affected by gravity and on the gravity torque.

Abstract: A position detecting apparatus and method of determining the detected position utilizing a motor driven incremental encoder to provide a signal indicative of a plurality of reference points and a moving mechanism connected to the output shaft of the motor with a sensor for detecting a plurality of division points wherein the sensor and the detected division points are moved relative to each other. The plurality of division points may be provided at equal intervals, the range of output shaft motion can be detected in the form of interval positions by detecting and measuring the output pulse count from the incremental encoder and detecting the amount of movement via the division points detected by the sensor. Using the relation between the predetermined positions of the division points of the moving mechanism and the known positions of the reference points of the incremental encoder, the absolute value of the position of the output shaft can be precisely determined.