Abstract: Provided are: a 3D printer using a robot and enabling molding of an article with high strength and high accuracy; and a control apparatus for said robot. A robot used as this 3D printer has: an input-side encoder that acquires information regarding the angle of an input axis of a joint of the robot operated on the basis of a control command; and an output-side encoder that acquires information regarding the angle of an output axis. A calculation unit of this control apparatus has: a control command storage unit having stored therein a control command for motors of respective axes of the robot; a deviation estimation unit that receives results of detection by both of the input-side encoder and the output-side encoder and estimates the deviation of an actual trajectory of the robot from the control command; and a control command correction unit that corrects the control command by using the estimation result by the deviation estimation unit.

Abstract: A robot including at least one joint shaft that includes: a first link member and a second link member that are coupled about a rotation axis; a reducer that has an input shaft part fixed to the first link member and an output shaft part fixed to the second link member; a motor that generates a driving force to be input to the reducer; and an input-side encoder that detects a rotation angle of a rotation shaft of the motor; and an output-side encoder that detects a rotation angle between the first link member and the second link member. The output-side encoder includes a scale member that has a pattern and a sensor that detects the pattern on the scale member. The scale member is fixed to an attachment surface, and the sensor is attached to a fixing member fixed to the first link member.

Abstract: A robot having joint shaft that includes: a first-link member and a second-link that are coupled about a rotation axis; a reducer that has an input-shaft fixed to the first-link and an output-shaft fixed to the second-link; a motor that generates a driving force to be input to the reducer; and an input-side encoder and an output-side encoder. The motor is away from the rotation axis, and a power transmission mechanism is provided between the motor and the reducer. The reducer includes a hollow-part and a tubular-member. The tubular-member passes through the hollow-part, one end of which is fixed to the input-shaft or the output-shaft, and the other end of which protrudes from the input-shaft or the output-shaft. The output-side encoder includes a scale and a sensor. The scale is fixed to the tubular-member; and the sensor is fixed to the input-shaft or the output-shaft.

Abstract: This gripping hand has a base member and a number of fingers arranged about an axis line passing through the base member, wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting the basal end side of the flexible finger part, the gripping hand is provided with a number of link mechanisms that are supported by the base member and that support the respective number of finger base members, and each of the link mechanisms allows the finger base member supported thereby to move relative to the base member such that the orientation of the finger base member supported thereby does not substantially change relative to the base member.

Abstract: In an ignition control apparatus, a control unit controls switching elements so as to supply a primary current to the other end side of a primary winding opposite to one end thereof connected to a DC power source by discharging (which is performed by turning on a second switching element stored energy from a capacitor during ignition discharge (which is started by turning off a first switching element. In particular, the control unit controls the second switching element or the third switching element so as to provide variability to the amount of stored energy discharged from the capacitor according to an operating state of an internal combustion engine.

Abstract: A robot having joint shaft that includes: a first-link member and a second-link that are coupled about a rotation axis; a reducer that has an input-shaft fixed to the first-link and an output-shaft fixed to the second-link; a motor that generates a driving force to be input to the reducer; and an input-side encoder and an output-side encoder. The motor is away from the rotation axis, and a power transmission mechanism is provided between the motor and the reducer. The reducer includes a hollow-part and a tubular-member. The tubular-member passes through the hollow-part, one end of which is fixed to the input-shaft or the output-shaft, and the other end of which protrudes from the input-shaft or the output-shaft. The output-side encoder includes a scale and a sensor. The scale is fixed to the tubular-member; and the sensor is fixed to the input-shaft or the output-shaft.

Abstract: This gripping hand has a base member and a number of fingers arranged about an axis line passing through the base member, wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting the basal end side of the flexible finger part, the gripping hand is provided with a number of link mechanisms that are supported by the base member and that support the respective number of finger base members, and each of the link mechanisms allows the finger base member supported thereby to move relative to the base member such that the orientation of the finger base member supported thereby does not substantially change relative to the base member.

Abstract: An ignition control apparatus of the present embodiment controls operation of an ignition plug provided so as to ignite an air-fuel mixed gas.

Abstract: An ignition control apparatus for engines is provided. The ignition control apparatus is designed to control a switch to release energy stored in a capacitor during spark discharge, thereby supplying a primary current to an other end side opposite a one end of a primary winding of an ignition coil connected to a dc power supply. This provides the ignition control apparatus which is capable of minimizing an increase in size or manufacturing cost and stabilizing the state of combustion of an air-fuel mixture.

Abstract: An ignition apparatus includes an adjuster. The adjuster adjusts, according to at least one of a primary voltage and a secondary voltage detected by a voltage detector, at least one of an application timing and an application level of auxiliary electrical energy to an ignition coil while main electrical energy is applied to a spark plug by the ignition coil. The application timing includes whether the auxiliary electrical energy is applied to the ignition coil.

Abstract: An ignition control apparatus of the present embodiment controls operation of an ignition plug provided so as to ignite an air-fuel mixed gas.

Abstract: An ignition control device includes a control unit to control first to third switching elements so that during ignition discharge, which is started by turning off the first switching element, energy stored on a capacitor is discharged by turning off the third switching element and turning on the second switching element for supplying a primary current to an end of a primary winding opposite to an end thereof connected to a direct-current power supply. During inductive discharge of a spark plug, the control unit non-intermittently turns on the second switching element so that the second switching element is turned on over a successive energy input time period, according to the operating conditions of an internal combustion engine.

Abstract: It is possible to adjust electromagnetic energy introduced from a low-voltage side of a primary winding 20 of an ignition coil 2 after start discharging to a spark plug 1 from the ignition coil 2 in the correct proportion by threshold-determining either one or both of a primary voltage V1 applied to a primary side of the ignition coil 2 and a secondary current I2 flowing in a secondary side of the ignition coil 2, and by opening and closing a discharging switch 32 disposed between an auxiliary power supply 3 including an energy storage coil 330 and a low-voltage side terminal 201 of the ignition coil 2.

Abstract: An ignition control device comprises: a first switching element having a power source side terminal connected to an other end side of a primary coil and a first ground side terminal connected to a ground side; a second switching element having a second ground side terminal connected to the other end side of the primary coil; a third switching element having a third power source side terminal connected to the second power source side terminal in the second switching element, and a third ground side terminal connected to the ground side; and an energy storage coil. The energy storage coil is an inductor interposed in an electric power line connecting a non-ground side output terminal in a DC power source and the third power source side terminal in the third switching element, and stores energy from the turning on of the third switching element.

Abstract: An ignition control device includes a control unit to control first to third switching elements so that during ignition discharge, which is started by turning off the first switching element, energy stored on a capacitor is discharged by turning off the third switching element and turning on the second switching element for supplying a primary current to an end of a primary winding opposite to an end thereof connected to a direct-current power supply. During inductive discharge of a spark plug, the control unit non-intermittently turns on the second switching element so that the second switching element is turned on over a successive energy input time period, according to the operating conditions of an internal combustion engine.

Abstract: An ignition control apparatus for engines is provided. The ignition control apparatus is designed to control a switch to release energy stored in a capacitor during spark discharge, thereby supplying a primary current to an other end side opposite a one end of a primary winding of an ignition coil connected to a dc power supply. This provides the ignition control apparatus which is capable of minimizing an increase in size or manufacturing cost and stabilizing the state of combustion of an air-fuel mixture.

Abstract: An ignition apparatus includes an adjuster. The adjuster adjusts, according to at least one of a primary voltage and a secondary voltage detected by a voltage detector, at least one of an application timing and an application level of auxiliary electrical energy to an ignition coil while main electrical energy is applied to a spark plug by the ignition coil. The application timing includes whether the auxiliary electrical energy is applied to the ignition coil.

Abstract: In an ignition control apparatus, a control unit controls switching elements so as to supply a primary current to the other end side of a primary winding opposite to one end thereof connected to a DC power source by discharging (which is performed by turning on a second switching element stored energy from a capacitor during ignition discharge (which is started by turning off a first switching element. In particular, the control unit controls the second switching element or the third switching element so as to provide variability to the amount of stored energy discharged from the capacitor according to an operating state of an internal combustion engine.

Abstract: An ignition control apparatus of the present embodiment controls operation of an ignition plug provided so as to ignite an air-fuel mixed gas.