Abstract: A spring constant correction device and method measure a position and attitude of a distal end of an articulated robot when the articulated robot is operated in a state where elastic deformation is compensated, compare measurement values of the position and attitude of the distal end and target values of the position and attitude, and correct a spring constant based on a result of the comparison. In case of the correction, the spring constant is corrected at a predetermined position based on at least three of: an angle of an end point attitude based on the measured attitude; a torque of the distal end in the end point attitude; an angle of the distal end in a target attitude; and a torque of the distal end in the target attitude. A program of such a method is recorded in a recording medium.

Abstract: A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

Abstract: A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.

Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.

Abstract: In an arc-tracking welding method and a welding device of the present invention, a deviation amount between a weaving center and a welding line is obtained based on a first relationship and a second relationship. The first relationship is a relationship between a weaving position and any one element of three electrical first to third elements related to Ohm's law, the relationship being obtained based on a physical model of an arc welding phenomenon and being associated with the deviation amount. The second relationship is a relationship between the weaving position and the element, the relationship being obtained based on the element in welding power.

Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Abstract: A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.

Abstract: A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.

Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.

Abstract: A tire uniformity testing apparatus (1) measures uniformity of a tire (T) by measuring a load generated on the tire (T) pressed against a rotating rotary drum (2). A load model used to control a pressing position of the rotary drum (2) and express a relation between the pressing position of the tire (T) against the rotary drum (2) and a tire load generated in the tire (T) is configured to successively measure the tire load, while changing the pressing position of the tire (T) against the rotary drum (2), and to estimate the tire load using the measured value of the measured tire load.

Abstract: Provided is a hydraulic drive device, wherein the hydraulic drive device is provided with: a cylinder (101); a rod (103); a piston (102); a hydraulic pump (107); a tank (113); a valve (106) that can be switched between a positive state of connecting the hydraulic pump (107) and a head chamber (101h) and connecting a rod chamber (101r) and the tank (113), and a negative state of connecting the hydraulic pump (107) and the rod chamber (101r) and connecting the head chamber (101h) and the tank (113); and a confluence channel (114) at which, when the valve (106) is in the positive state, at least a portion of hydraulic oil going from the rod chamber (101r) to the tank (113) is merged into hydraulic oil going from the hydraulic pump (107) to the head chamber (101h).

Abstract: In a tire uniformity testing apparatus which measures uniformity of a tire by measuring a load applied to the tire pressed against a rotary drum, a load estimation model is generated which is used to control a pressing position of the rotary drum, and generates a load estimation model indicating a relation between the pressing position of the tire with respect to the rotary drum and the load applied to the tire. The load estimation model is generated by: holding the tire in which uniformity has already been measured for each characteristic value; acquiring a nominal model depending on the characteristic value of the tire; and generating based on the acquired nominal model.

Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.

Abstract: Provided is a hydraulic drive device, wherein the hydraulic drive device is provided with: a cylinder (101); a rod (103); a piston (102); a hydraulic pump (107); a tank (113); a valve (106) that can be switched between a positive state of connecting the hydraulic pump (107) and a head chamber (101h) and connecting a rod chamber (101r) and the tank (113), and a negative state of connecting the hydraulic pump (107) and the rod chamber (101r) and connecting the head chamber (101h) and the tank (113); and a confluence channel (114) at which, when the valve (106) is in the positive state, at least a portion of hydraulic oil going from the rod chamber (101r) to the tank (113) is merged into hydraulic oil going from the hydraulic pump (107) to the head chamber (101h).

Abstract: Provided is a control device (1) for controlling a control target that comprises an inverse response system (2) having inverse response characteristics, i.e., in which the initial response rocks in the inverse direction from the input change direction. The control device (1) comprises an inverse response compensation system (5) that compensates for the inverse response characteristics in the control target. This inverse response compensation system (5) is configured to calculate a comparison value for the output of the control target and the output of a control target from which a portion or all of the unstable zeros have been removed and feed the calculated comparison value back to the input side of the control target.

Abstract: Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

Abstract: A control device (1) for controlling a control target comprising an astatic system (2) that has dead time is provided with: a dead time compensation system (5) that compensates for dead time at the control target based on the dynamic characteristics of the control target; and an integration error compensation system (6) that compensates for integration errors originating in the dead time compensation system (5). The integration error compensation system (6) comprises: an ideal response unit (7) in which the dynamic characteristics of the control target while in a state in which interference is not input are used as a model; and a correction unit (8) that is configured to correct a comparative value for the output of the ideal response unit (7) and the output of the control target and subsequently input the result to the control target.

Abstract: In a tire uniformity testing apparatus which measures uniformity of a tire by measuring a load applied to the tire pressed against a rotary drum, a load estimation model is generated which is used to control a pressing position of the rotary drum, and generates a load estimation model indicating a relation between the pressing position of the tire with respect to the rotary drum and the load applied to the tire. The load estimation model is generated by: holding the tire in which uniformity has already been measured for each characteristic value; acquiring a nominal model depending on the characteristic value of the tire; and generating based on the acquired nominal model.