Abstract: A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit.

Abstract: In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

Abstract: A wheel bearing apparatus incorporating a rotational speed detecting apparatus has an outer member, an inner member and double row rolling elements contained between inner and outer raceway surfaces of the inner and outer members. A pulser ring is fit onto the outer circumference of the inner ring. A cylindrical sensor cap is fit into the inner circumference of the inner-side end of the outer member. A mounting portion axially projects from a radially outer portion of the sensor cap. An inserting bore is formed in the mounting portion so that it axially extends at a position corresponding to the pulser ring. A sensor unit is mounted in the inserting bore. A rotational speed sensor is embedded in the sensor unit to oppose the pulser ring, via a predetermined axial air gap. The position of a gate of a mold is set on the mounting portion of the sensor cap.

Abstract: An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.

Abstract: An arrayed waveguide grating optical multiplexer/demultiplexer according to the present invention including an input channel waveguide, an input slab waveguide, an arrayed waveguide, a polarization dependence eliminating means, an output slab waveguide, a temperature compensating means, and an output channel waveguide is characterized in that the temperature compensating means compensates for the temperature dependence of the optical path lengths in the channel waveguides of the arrayed waveguide, and the polarization dependence eliminating means eliminates the temperature dependence and the polarization dependence of the arrayed waveguide grating optical multiplexer/demultiplexer at the same time.

Abstract: First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ?err, fourth calculation means integrates the joint velocity ?err and calculates a position correction amount vector ?add, and the position correction amount vector ?add is fed back to position control means with torque limits.

Abstract: An optical wavelength multiplexing/de-multiplexing circuit having a low loss and a flat transmission spectrum is provided. The optical wavelength multiplexing/de-multiplexing circuit compensates a temperature dependence of a center transmission wavelength which remains in an athermal AWG, and has an excellent accuracy of the center transmission wavelength in a whole operating temperature range or has a comparatively wide operable temperature range. The temperature dependence of the transmission wavelength in the athermal MZI is modulated and set so as to cancel the temperature dependence of the center wavelength which remains in the athermal AWG. The present invention focuses particularly on an optical coupler in the MZI and modulates the temperature dependence of the transmission wavelength in the MZI by providing the optical coupler itself with a mechanism which changes a phase difference between two outputs by temperature.

Abstract: A wheel bearing apparatus incorporating a rotational speed detecting apparatus has an outer member, an inner member and double row rolling elements contained between inner and outer raceway surfaces of the inner and outer members. A pulser ring is fit onto the outer circumference of the inner ring. A cylindrical sensor cap is fit into the inner circumference of the inner-side end of the outer member. A mounting portion axially projects from a radially outer portion of the sensor cap. An inserting bore is formed in the mounting portion so that it axially extends at a position corresponding to the pulser ring. A sensor unit is mounted in the inserting bore. A rotational speed sensor is embedded in the sensor unit to oppose the pulser ring, via a predetermined axial air gap. The position of a gate of a mold is set on the mounting portion of the sensor cap.

Abstract: A wheel bearing apparatus incorporating a rotational speed detecting apparatus has an outer member, an inner member and double row rolling elements contained between inner and outer raceway surfaces of the inner and outer members. A pulser ring is fit onto the outer circumference of the inner ring. A cylindrical sensor cap is fit into the inner circumference of the inner-side end of the outer member. A mounting portion axially projects from a radially outer portion of the sensor cap. An inserting bore is formed in the mounting portion so that it axially extends at a position corresponding to the pulser ring. A sensor unit is mounted in the inserting bore. A rotational speed sensor is embedded in the sensor unit to oppose the pulser ring, via a predetermined axial air gap. The position of a gate of a mold is set on the mounting portion of the sensor cap.

Abstract: In an optical interferometer, polarization dependence attributable to the optical path difference has conventionally been eliminated by inserting a half-wave plate at the center of the interferometer. However, light induced by polarization coupling produced in directional couplers used in the optical interferometer causes interference having different interference conditions from those of the normal light. Polarization rotators that effect any one of 90° rotation and ?90° rotation of all states of polarization of incoming light are inserted in the optical interferometer, and thereby the interference conditions of light induced by polarization coupling are made the same as those of the normal light. Each of the polarization rotators is implemented by using two half-wave plates and by varying an angle of combination of these half-wave plates. Alternatively, each of the polarization rotators is implemented through a combination of one half-wave plate and a waveguide having birefringence properties.

Abstract: An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.

Abstract: A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit.

Abstract: Provided is a CAN system that can generate an error signal without requiring hardware for generating an error signal to be connected to a bus. A protocol processing part within a CAN controller incorporates error data into receive data or send data, based on error data information stored in a register.

Abstract: Provided is a CAN system that can generate an error signal without requiring hardware for generating an error signal to be connected to a bus. A protocol processing part within a CAN controller incorporates error data into receive data or send data, based on error data information stored in a register.

Abstract: An optical wavelength multiplexing/de-multiplexing circuit having a low loss and a flat transmission spectrum is provided. The optical wavelength multiplexing/de-multiplexing circuit compensates a temperature dependence of a center transmission wavelength which remains in an athermal AWG, and has an excellent accuracy of the center transmission wavelength in a whole operating temperature range or has a comparatively wide operable temperature range. The temperature dependence of the transmission wavelength in the athermal MZI is modulated and set so as to cancel the temperature dependence of the center wavelength which remains in the athermal AWG. The present invention focuses particularly on an optical coupler in the MZI and modulates the temperature dependence of the transmission wavelength in the MZI by providing the optical coupler itself with a mechanism which changes a phase difference between two outputs by temperature.

Abstract: An optical wavelength multi/demultiplexing circuit is provided in which temperature dependence at a transmission center wavelength remained in an athermalized AWG is compensated. An AWG according to an embodiment of the present invention is compensated for the main temperature dependence at the transmission center wavelength. The AWG comprises an optical splitter, a first and second arm waveguides, an optical mode combining coupler and a multimode waveguide between an input/output waveguide and a slab waveguide. The optical mode combining coupler couples fundamental mode light from the first arm waveguide as fundamental mode and the fundamental mode light from the second arm waveguide as first mode. The multimode waveguide is capable of propagating the fundamental and first mode light. This AWG is configured such that the temperature dependence remained in the arrayed waveguide grating is compensated by changing the optical path length difference between the first and second arm waveguides with temperature.

Abstract: An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.

Abstract: First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ?err, fourth calculation means integrates the joint velocity ?err and calculates a position correction amount vector ?add, and the position correction amount vector ?add is fed back to position control means with torque limits.

Abstract: A demodulator is provided for a multilevel differential phase shift keyed signal, capable of eliminating polarization dependence due to birefringence and polarization coupling-induced light resulting from a waveguide structure, and also, polarization dependence due to dynamic birefringence produced at the time of driving a variable phase adjuster. The demodulator is configured of an optical delay line interferometer of a waveguide interference type. The S/N ratio of a demodulated signal in the demodulator formed by the optical delay line interferometer can be also improved. Further, both the polarization dependence and the temperature dependence of the optical delay line interferometer can be reduced. The disposition of a polarization converter and groves filled with a temperature compensation material makes it possible to provide a circuit configuration suitable for eliminating the polarization dependence and the temperature dependence of the optical delay line interferometer.

Abstract: An arrayed waveguide grating optical multiplexer/demultiplexer according to the present invention including an input channel waveguide, an input slab waveguide, an arrayed waveguide, a polarization dependence eliminating means, an output slab waveguide, a temperature compensating means, and an output channel waveguide is characterized in that the temperature compensating means compensates for the temperature dependence of the optical path lengths in the channel waveguides of the arrayed waveguide, and the polarization dependence eliminating means eliminates the temperature dependence and the polarization dependence of the arrayed waveguide grating optical multiplexer/demultiplexer at the same time.