Abstract: A driving mechanism that relatively displaces first and second links includes a motor, a reduction gear, and a torque sensor including a hollow portion, wherein the reduction gear includes an input shaft that is rotated by drive of the motor, the torque sensor is arranged between the reduction gear and the first link, and the input shaft penetrates through the hollow portion of the torque sensor.

Abstract: A robot includes a first link, a driving device configured to cause the first link to rotate, a transmission member configured to transmit a rotation of the driving device, a first stopper provided on the first link, and a second stopper provided on the transmission member, wherein the first stopper and the second stopper are brought into contact with each other by a relative movement between the first link and the transmission member.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: A driving mechanism that relatively displaces first and second links includes a motor, a reduction gear, and a torque sensor including a hollow portion, wherein the reduction gear includes an input shaft that is rotated by drive of the motor, the torque sensor is arranged between the reduction gear and the first link, and the input shaft penetrates through the hollow portion of the torque sensor.

Abstract: To provide an angle detection method with which a control for positioning an output shaft using an input shaft encoder and output shaft encoder at a high accuracy and a torsional feedback control can be realized and an angle detection apparatus that executes the angle detection method. In a robot arm constituted by an input shaft encoder, an output shaft encoder, a motor, a reduction gear, and the like, an output shaft encoder detection error is corrected by setting rotation position information using a periodicity of rotations of the input shaft encoder as a reference. When the input/output shaft encoder detection error is corrected in this manner, the control for positioning the output shaft at a high accuracy and the torsional feedback control can be realized.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.

Abstract: A control method for a robot apparatus including a power supply unit, an articulated arm having a plurality of joints each having an actuator and a driver, and a control device includes determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving, and if not, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: To provide an angle detection method with which a control for positioning an output shaft using an input shaft encoder and output shaft encoder at a high accuracy and a torsional feedback control can be realized and an angle detection apparatus that executes the angle detection method. In a robot arm constituted by an input shaft encoder, an output shaft encoder, a motor, a reduction gear, and the like, an output shaft encoder detection error is corrected by setting rotation position information using a periodicity of rotations of the input shaft encoder as a reference. When the input/output shaft encoder detection error is corrected in this manner, the control for positioning the output shaft at a high accuracy and the torsional feedback control can be realized.

Abstract: A control method for a robot apparatus including a power supply unit, an articulated arm having a plurality of joints each having an actuator and a driver, and a control device includes determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving, and if not, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.

Abstract: To well remove a noise component due to vibration of a flexible member from an original detection signal output from a detecting unit and suppress a phase delay of a detection signal obtained by filtering. For this purpose, the present invention provides a detecting unit including a flexible member deforming according to a state of an object to be measured and a sensor detecting an amount of deformation of the flexible member and outputting an original detection signal indicating a detection result. A filtering unit outputs a detection signal obtained by filtering the original detection signal using a filter coefficient. A calculating device calculates a vibration frequency of the flexible member contained in the original detection signal. A changing unit changes a filter coefficient of the filtering unit to cause the filtering unit to function as a filter for attenuating the vibration frequency calculated by the calculating device.

Abstract: A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.

Abstract: To well remove a noise component due to vibration of a flexible member from an original detection signal output from a detecting unit and suppress a phase delay of a detection signal obtained by filtering. For this purpose, the present invention provides a detecting unit including a flexible member deforming according to a state of an object to be measured and a sensor detecting an amount of deformation of the flexible member and outputting an original detection signal indicating a detection result. A filtering unit outputs a detection signal obtained by filtering the original detection signal using a filter coefficient. A calculating device calculates a vibration frequency of the flexible member contained in the original detection signal. A changing unit changes a filter coefficient of the filtering unit to cause the filtering unit to function as a filter for attenuating the vibration frequency calculated by the calculating device.

Abstract: A liquid trap device for gas includes a trap housing and a liquid filter disposed in the trap housing. The liquid filter includes an upper end wall having an opening communicating with a gas inlet, a lower end wall and a cylindrical filter element providing a connection between the upper end wall and the lower end wall. An inflow guide tube is disposed in the filter element, the inflow guide tube having a uniform path area and extending from the opening to the lower end wall so as to guide gas flowing into the gas inlet into the filter element. A distance between a lower end of the inflow guide tube and the lower end wall is set at 20 mm or less. Thus, the liquid trap device for gas has a high performance for trapping liquid.

Abstract: A liquid trap device for gas includes a trap housing and a liquid filter disposed in the trap housing. The liquid filter includes an upper end wall having an opening communicating with a gas inlet, a lower end wall and a cylindrical filter element providing a connection between the upper end wall and the lower end wall. An inflow guide tube is disposed in the filter element, the inflow guide tube having a uniform path area and extending from the opening to the lower end wall so as to guide gas flowing into the gas inlet into the filter element. A distance between a lower end of the inflow guide tube and the lower end wall is set at 20 mm or less. Thus, the liquid trap device for gas has a high performance for trapping liquid.