Abstract: Provided are a liquid crystal composition, a liquid crystal cured layer, an optical film, a polarizing plate, and an image display device, each of which suppresses streak defects and has excellent temporal stability. The liquid crystal composition includes a liquid crystal compound and a basic compound, in which a pKa of a conjugate acid of the basic compound is 4 to 10.

Abstract: A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.

Abstract: A robot control device includes an obtaining unit that obtains, from an image sensor that captures a workpiece group to be handled by a robot, a captured image, a simulation unit that simulates operation of the robot, and a control unit that performs control such that the captured image is obtained if, in the simulation, the robot is retracted from an image capture forbidden space, in which an image is potentially captured with the workpiece group and the robot overlapping each other, and which is set based on either or both a first space being the visual field range of the image sensor, and a columnar second space obtained by taking a workpiece region including the workpiece group or each of divided regions into which the workpiece region is divided, as a bottom area, and extending the bottom area to the position of the image sensor.

Abstract: The purpose of the present invention is to provide a device for outputting holding detection results by a highly accurate simulation in consideration of parameters related to a holding member. A user enters workpiece information through an input UI unit. A selection control unit executes an automatic selection process of a suction pad based on the workpiece information input through the input UI unit, an automatic selection process of a workpiece physical model, an automatic selection process of a robot, and a confirmation process of a vibration tolerance, and then displays the selection results. The selection control unit determines whether there is a problem with the selection results based on an input instruction from the user.

Abstract: A path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.

Abstract: An interference determination apparatus includes: an acquisition unit that acquires region information indicating regions set in a configuration space in which the angles of rotation of two or three specific joints of an articulated robot are indicated by coordinate axes, the regions including an interference region in which the robot is determined to interfere with itself or an obstacle based on the magnitudes of the angles of rotation of the specific joints, and a non-interference region in which the robot is determined to not interfere with itself or an obstacle based on the magnitudes of the angles of rotation of specific joints; and a determination unit that determines whether the robot interferes with itself or an obstacle, by determining whether coordinates indicating a posture determined by the angles of rotation of the specific joints belong to the interference region or the non-interference region indicated by the acquired region information.

Abstract: A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.

Abstract: A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.

Abstract: A robot control device includes an obtaining unit that obtains, from an image sensor that captures a workpiece group to be handled by a robot, a captured image, a simulation unit that simulates operation of the robot, and a control unit that performs control such that the captured image is obtained if, in the simulation, the robot is retracted from an image capture forbidden space, in which an image is potentially captured with the workpiece group and the robot overlapping each other, and which is set based on either or both a first space being the visual field range of the image sensor, and a columnar second space obtained by taking a workpiece region including the workpiece group or each of divided regions into which the workpiece region is divided, as a bottom area, and extending the bottom area to the position of the image sensor.

Abstract: A path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.

Abstract: An interference determination apparatus includes: an acquisition unit that acquires region information indicating regions set in a configuration space in which the angles of rotation of two or three specific joints of an articulated robot are indicated by coordinate axes, the regions including an interference region in which the robot is determined to interfere with itself or an obstacle based on the magnitudes of the angles of rotation of the specific joints, and a non-interference region in which the robot is determined to not interfere with itself or an obstacle based on the magnitudes of the angles of rotation of specific joints; and a determination unit that determines whether the robot interferes with itself or an obstacle, by determining whether coordinates indicating a posture determined by the angles of rotation of the specific joints belong to the interference region or the non-interference region indicated by the acquired region information.

Abstract: The purpose of the present invention is to provide a device for outputting holding detection results by a highly accurate simulation in consideration of parameters related to a holding member. A user enters workpiece information through an input UI unit. A selection control unit executes an automatic selection process of a suction pad based on the workpiece information input through the input UI unit, an automatic selection process of a workpiece physical model, an automatic selection process of a robot, and a confirmation process of a vibration tolerance, and then displays the selection results. The selection control unit determines whether there is a problem with the selection results based on an input instruction from the user.

Abstract: A motion instruction value calculation unit is configured to calculate operation instruction values of a pick-and-place apparatus to be simulated. A dynamics calculation unit is configured to read the operation instruction values that are output from the motion instruction value calculation unit, and to calculate an apparatus operation considering the dynamics. Based on the apparatus operation considering the dynamics, the suction success/failure calculation unit is configured to determine whether a workpiece is successfully sucked by a suction pad. A 3D display unit is configured to display a 3D image of the apparatus operation considering the dynamics in a display unit such as a liquid crystal display.

Abstract: A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.

Abstract: A simulation apparatus includes a processor that executes a simulation of a control program executed on a controller. The controller controls motion of a machine that handles an object. The processor includes: a motion control device that controls motion of a virtual machine based on a motion command to move the virtual machine in a virtual space, with the virtual machine corresponding to the machine; a determination device that determines whether a volume of a region, where a work space in which the virtual machine works overlaps with the virtual object, is equal to or greater than a predetermined reference value, the virtual object being handled by the virtual machine and corresponding to the object; and a follow-up device that makes the virtual object follow the motion of the virtual machine based on the motion command when the volume is equal to or greater than the reference value.

Abstract: A display device that displays an error between an instructed command position of a specific portion of a control target and a response position of the specific portion in a manner easily understandable to a user is described. The display device acquires a response position of the specific portion and calculates a difference in position of the command position and the response position. The display device displays a spatial trajectory based on the command position or a spatial trajectory based on the response position. The display device also displays each spatial trajectory in a mode where a portion of the spatial trajectory of the command position corresponding to the selected mark and a portion of the spatial trajectory of the response position corresponding to the relevant portion of the spatial trajectory of the command position are enlarged at a same magnification.

Abstract: A simulation apparatus includes a processor that executes a simulation of a control program executed on a controller. The controller controls motion of a machine that handles an object. The processor includes: a motion control device that controls motion of a virtual machine based on a motion command to move the virtual machine in a virtual space, with the virtual machine corresponding to the machine; a determination device that determines whether a volume of a region, where a work space in which the virtual machine works overlaps with the virtual object, is equal to or greater than a predetermined reference value, the virtual object being handled by the virtual machine and corresponding to the object; and a follow-up device that makes the virtual object follow the motion of the virtual machine based on the motion command when the volume is equal to or greater than the reference value.

Abstract: To provide a display device displaying an error between an instructed command position of a specific portion of a control target and a response position of the specific portion in a manner easily understandable to a user. The display device acquires a response position of a specific portion based on a command value, and calculates a difference in position of the command position and the response position. The display device determines whether or not the difference is greater than or equal to a threshold value. The display device displays on a screen a spatial trajectory based on the command position or a spatial trajectory based on the response position, and a mark indicating a portion of the trajectory in which the difference is determined to be greater than or equal to the threshold value.

Abstract: Reference data for automatically inspecting shapes of fillets formed on a substrate are set to an inspection device that illuminates the substrate from specified directions to generate an image. For each type of components mounted to the substrate, a database is prepared, registering sets of reference data corresponding to different fillet shapes in correlation with heights of solder for forming fillets having these shapes. After components to be an object of inspection are identified, specified steps are carried out on each of these components, including the step of obtaining data on the height of solder for forming the fillet related to a land for which a target area for inspection has been set and reading out reference data corresponding to the data obtained from the reference data registered in the database.

Abstract: For each teaching image, a plurality of patterns of color pickup regions each include a first region for picking up a color of a first part and a second region for picking up a color of a second part are set, the color of each pixel in the first region and the color of each pixel in the second region are mapped as a target point and an exclusion point respectively, to a color space for each of the patterns of the color pickup regions, a degree in separation between a target point distribution and an exclusion point distribution in the color space is calculated for each of the patterns of the color pickup regions, a pattern of a color pickup region having a maximum degree in separation is selected, a color range which divides the color space and has the largest difference between the number of target points and the number of exclusion points in the selected pattern therein is found, and the found color range is set as a color condition used in a board inspecting process.