Abstract: The present patent application discloses a camera provided with judging means for automatically judging the direction in which an object to be photographed is located, and control means for correctly controlling the camera by obtaining measured distance information and/or measured light information of the direction in which the object is located on the basis of an output of the judging means.

Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.

Abstract: A compact self-aligning transceiver for high bandwidth cooperative duplex communications, laser image projections or surveillance applications comprises a base mounted hermetic transparent sphere encapsulating a system of two or more pancake motors, two of which are being nested and orthogonal to each other to suspend and rotate a system of optical components centrally located within said motors for receiving and selectively transmitting radiation beams.

Abstract: A positioning device includes a table (5, 69), which is displaceable in two coordinate directions (X, Y) by means of Lorentz forces of electric linear motors over a base (3) and is guided over the base (3) by means of a static gas bearing, which has an air gap thickness independent of the coil systems and magnet systems (15-21, 37-43) in the motors. The positioning device is particularly suitable for the manufacture of masks with patterns for integrated circuits.

Abstract: An industrial robot apparatus comprise for controlling an industrial robot and a peripheral unit thereof according to a program so as to load workpieces on a pallet, an abnormal stop unit for detecting an abnormality which occurs in at least either of the industrial robot and the peripheral unit and for stopping both the industrial robot and the peripheral unit, a storage unit for storing a step of the program which is being executed when the abnormal stop takes place, and a removal unit for removing remaining workpieces to be loaded on the pallet in steps following the stored step of the storage unit.

Abstract: An electromagnetic sub-stage and an electromagnetic monolithic stage coupled such that one follows the other having a single reference surface positioned therebetween. A sub-stage having linear motors for movement in the X-Y direction is mounted by a U bracket to a monolithic stage. The monolithic stage is suspended by flat electromagnetic coils providing precise motion of the body of the monolithic stage in X, Y, Z, and rotation about the Z axis or .theta.. Follow control means links or tracks the movement of the monolithic stage to the sub-stage such that the monolithic stage positioning coils are centered in their respective magnetic structure. Adjustable mechanical stops attached the monolithic stage in combination with air bearings riding on the reference surface limit travel of the monolithic stage in the focus or Z direction. The single reference surface extends over the entire range of motion of the monolithic stage. This improves position accuracy, and cleaning and servicing of the apparatus.

Abstract: A carriage is moved along a track by a motor connected in a first control loop to a carriage position sensor. The carriage carries a chassis which is coupled to it by a flexible linkage. The chassis carries an accelerometer connected by a second control loop independent of the first control loop to a linear actuator acting on the chassis and bearing on the carriage. The chassis carries a primary mirror fastened to it and a secondary mirror coupled to it by a piezo-electric actuator controlled via a third control loop by an optical path difference OPD error signal generated in the recombination station that includes the interferometer. The third control loop is desaturated by the first or second control loop, preferably by the second control loop. The preferably stellar interferometer may be on board a spacecraft.

Abstract: A friction compensation system which augments a stabilization rate loop includes a first summer (11) responsive to a rate command signal and a feedback signal to provide a torque command signal, a second summer (17) responsive to the torque command signal via torquer (15) and the gimbal torque disturbances to provide a net applied torque, a gimbal (19) subjected to the gimbal torque disturbances and having an inertial rotation governed by the net applied torque and a gyro (21) responsive to the inertial rotation of the gimbal to provide the feedback signal. An adaptive friction compensator responsive to the torque command signal provides an enhanced torque command signal to which an intermediate third summer (33) is responsive in accordance with a predetermined model (31) which is adjusted adaptively in realtime. The third summer is responsive to the torque command signal and the enhanced torque command signal to control the gimbal.

Abstract: A light system is disclosed for controlling the amount of light supplied from a high density light source to a target. A shutter is positioned between the light source and the target, and a motor is coupled to said shutter to control the position of said shutter. Either manual or automatic control of said shutter is provided by electronic means coupled to said motor.

Abstract: A driving device for a multipolar type linear DC motor using a PWM (pulse width modulation) driving signal for driving a linear DC motor by causing an excitation coil of the motor, placed in alternating fields, to generate an induction field, and switching polarities of the induction field. The device includes a magnet polarity detecting circuit for detecting a direction of a magnetic field acting on the excitation coil in the alternating fields, an electric filter for removing an output signal output from the magnet polarity detecting circuit and having the same period as a PWM drive period, and polarity switching control circuit for controlling a direction and generation time of an induction field generated by the excitation coil in accordance with an output signal from the magnet polarity detecting circuit.

Abstract: The system includes a mobile remote unit sensitive to infrared (IR) signals transmitted by a base or stationary unit and an IR transmitter which is placed behind a rotating lens whose position at any time is known with precision resulting in the IR signal being "scanned" across an area. The remote unit detects when the peak strength of the signal occurs and provides this data via an RF signal to the base unit wherein the exact effective angle between the axis of the IR signal and the remote unit creates an error signal used by the base unit to position the camera mounted thereon. Transmitters for TILT and two PAN positions, PAN 1 and PAN 2, are used to include range calculations for ZOOM functions. Command circuitry to override the automatic tracking function is provided in each of the units.

Abstract: A multifunctional power driven positioning tool system wherein a battery powered screw driven removable central unit may be fitted into equipment to function as a tool for prying apart objects, for lifting or lowering within adjustable calibrated distances, for powering a material handling unit and for use in a press frame for pressing and pulling bearings.

Abstract: Apparatus for using an integrated diode array, also called a position sensing detector, which indicates the position of a spot of electromagnetic radiation along a sensitive strip, to measure angular rotation of a stationary shaft from a zero point. A beam of infrared or laser radiation is reflected from a mirror set at an angle other than 90 degrees to the shaft axis, located on a free end of the shaft. The reflected beam falls on the integrated diode array, its position being proportional to the tangent of the angle from the zero point (preferably the center of the sensitive area). The sum of analog voltage signals from both ends of the sensitive area is held constant by second electronic means through feedback monitoring of the radiation source power (beam intensity).

Abstract: An apparatus for and process of rotating a display adapted to an image display apparatus so that it automatically rotates the screen to face a viewer. For this operation, the apparatus includes a turntable for supporting the display, turntable driving mechanism for rotating the turntable throughout a predetermined angle, a position meter for outputting a voltage corresponding to the rotation angle of the turntable, an optical sensor for detecting the incident direction of a remote control optical signal, and a controller for controlling the turntable driving mechanism by determining the amount and direction of rotation of the turntable in accordance with the outputs of the optical sensor and position meter.

Abstract: A draw frame with a main control for a drafting arrangement having at least one independent drive group for at least one drafting zone. Each independent drive group has an auxiliary closed loop control system having a controller. Fiber slivers are drawn through the drafting arrangement through the drafting zones. When the control the range of a certain controller is exceeded, a nominal adjustment of at least one drive group is effected through a control connection.

Abstract: A digitizing control device for generating tracing data related to a shape of a model while a tracer head carries out a non-contact tracing of the model shape. The rotation of the tracer head (4) is controlled in accordance with the inclination of a model surface (6), and distance detectors (5a, 5b) measure the distances therefrom to the model surface (6). When the inclination of the model surface (6) is smaller than a reference angle, the control of the rotation of the tracer head (4) is prohibited, to thereby achieve a stable distance measurement, and accordingly, accurate tracing data can be generated by a non-contact tracing of the model surface.

Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.

Abstract: An atomic force microscope is described having a scan correction arrangement. Sensors detect the actual position of tubular scanners for a sample in an xy plane. This position information is then used for post-imaging correction or as a feedback signal. Detection and use of the actual position assures that errors caused by hysteresis, etc., are obviated. Various embodiments of an appropriate sensor are described.

Abstract: A scanning device comprises a rotatable mirror and a drive unit. The drive unit comprises a rotor section which carries the mirror and which is rotatable about an axis of rotation (19), which rotor section has a disc-shaped at least partly permanent-magnetic rotor body (13). The drive unit further comprises a stationary stator section with coils (9) extending in the magnet field of the rotor body to generate electromagnetic driving forces acting on the rotor body to provide the rotary drive of the mirror, and coils (11) disposed in the magnet field of the rotor body to generate electromagnetic bearing forces acting on the rotor body, for electromagnetically supporting the rotatable rotor section relative to the stator section.

Abstract: A fast and effective way to step a relative position quantity by a reference interval. Each step in relative position includes open-loop and closed-loop control intervals. The invention contemplates an actuator capable of changing the relative position and a closed loop servo that acts on the actuator to keep the relative position centered on the nearest one of a series of reference values separated by the reference interval. The actuator is preferably capable of a fast response. Stepping the relative position is accomplished as follows, assuming an initial condition where the servo has locked the relative position to a particular initial reference value. First, the actuator is caused to change the relative position by an amount approximately equal to the reference interval in a manner that the servo cannot track the change, such as by disabling the servo. Servo control is then re-established, at which point the servo operates to keep the relative position centered on the nearest reference value.

Abstract: A five degree-of-freedom positioning device includes a manipulator shaft for manipulating an object to a desired position and orientation. Two sets of stator permanent magnets are spaced along an axis of the manipulator and arranged in parallel planes transverse to the manipulator axis so as to provide therebetween magnetic fields substantially extending along the axis. Interposed between the sets of permanent magnets are axially spaced sets of electrically energizable coils also arranged in parallel transverse planes. The coils are energized to produce coil fields that interact with the magnetic fields of the permanent magnets for generating the Lorentz force which acts on the manipulator shaft to effect two translational movements of the manipulator shaft along two mutually orthogonal axes perpendicular to the manipulator shaft axis and three rotational movements about the three mutually orthogonal axes including the manipulator shaft axis.

Abstract: The invention discloses an Ultrafast Electro-Dynamic X, Y and Theta Positioning Stage. A positioning stage made according to this invention allows light payloads to be moved with extremely high linear and angular accelerations over finite distances and angles with a plane. An important feature of this invention is a momentum-cancelling design which allows reaction forces and torques on the fixed member to approach zero, thereby, allowing for a smooth and an ultrafast performance by the positioning stage.

Abstract: A positioning stage has a base which carries a stage plate slidably on its upper surface. Three rotatable drives engage both the stage plate and the base to move the stage plate on the base to provide motion along the x and y axes plus rotation. The linear drives each include a motor and a capstan driven by the motor and a drivebar frictionally coupled to the capstan. The stage is spring loaded to provide constant down-load force, regardless of the varying extension length of the drivebar. A ball joint permits varying between the cones and the ball of the ball joint dynamically to desired levels. Measurement of position is provided by integrated, parallel dual axis plane mirror interferometers.

Abstract: A phase comparing apparatus which outputs a signal of an amplitude corresponding to phase difference between a first and second signals, includes a difference signal operating device for outputting a difference signal generated according to the difference in voltage between the first and second signals, first and second maximum value detecting device for respectively generating first and second maximum value detecting signals when maximum values of the first and second signals are respectively detected, a timing comparing device for outputting a first timing signal in response to one of the first and second maximum value detecting signals which is generated earlier than the other thereof and outputting a second timing signal in response to the other thereof, first and second sample-and-hold devices for respectively sampling and holding the difference signal outputted from the difference signal operating means, in response to the first and second timing signals, respectively, and a differential device for outp

Abstract: An apparatus for correcting imbalance of a rotor suspended by a magnetic bearing system including a displacement sensor for detecting a displacement of the rotor. An imbalance correcting circuit applies a trial imbalance correcting signal to the magnetic bearing system. A command computer applies an amount of correction to the imbalance correcting circuit and calculates an influence factor of the imbalance correcting signal on the basis of outputs from the displacement sensor before and after the imbalance correcting signal is applied to the magnetic bearing system, so as to cause the imbalance correcting circuit to apply a predetermined imbalance correcting signal produced from the influence factor to the magnetic bearing system, thereby minimizing the output of the displacement sensor to correct mass-imbalance of the rotor.

Abstract: A positioning system for accurately positioning components and the like in which a two-dimensional linear motor moves upon an air bearing across a large platen having a predetermined grid pattern yielding reasonably good resolution. A second two-dimensional positioning assembly of extremely fine resolution is secured to the linear motor arranged to traverse the large platen. Location sensors are provided in closed loop feedback system for detecting the X and Y positions. Coarse resolution is obtained by operating the first two-dimensional linear motor and fine resolution is obtained by operating the second two-dimensional positioning assembly, preferably after disabling the air bearing. The fine positioning system may also include a driver motor for rotating a manipulator arranged upon the second positioning system to correct for any angular misalignment of the component being placed by the manipulator.

Abstract: An index control apparatus for the tool rest of an NC lathe for driving the tool rest to a desired indexed position on the basis of an NC machining command. In order to make the swivelling velocity of the tool rest adjustable as desired and to index the tool rest quickly and with a high accuracy, a servo motor is used as the driving source for swivelling the tool rest. The swivelling angle and the swivelling velocity of the tool rest are optimized in accordance with an index command and the current position of the tool rest, and quick indexing operation is enabled in respective of the indexed position. The output torque of the servo motor is limited at the time of clamping/unclamping the tool rest, thereby facilitating the clamping/unclamping operation.

Abstract: A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value.

Abstract: An electromagnetically operated control system includes an actuator having an electromagnetic solenoid which exerts an electromagnetic force of the magnitude corresponding to the amount of electricity input to the solenoid, and a control circuit for controlling the amount of input electricity. The solenoid includes a pair of coils and the control circuit is changed over between a plurality of states including one state in which half of the amount of input electricity is applied to both coils, respectively, and another state in which upon a failure in either one of the coils the whole amount of input electricity is applied to the other coil. This control circuit assures a normal level of electromagnetic force, even upon a failure in one of the coils, with use of the normal one coil which is then applied with the whole of input electricity.

Abstract: A combination work supporting table and computer controlled robot wherein, preferably, a rotatable index table includes a concentric column having a computer controlled robot mounted upon the column outer end in spaced relationship to the table work supporting surface. A computerized robot controller controls both the robot and the rotation of the index table permitting an extensive range of robot movement over a large work area in a concise space.

Abstract: An ultra-precise positioning system includes a movable part, a rolling guide, a fixed part in supporting contact with the rolling guide, and a driving device for driving the movable part. The driving device includes a non-contact motor which applies a force to the movable part without touching engagement with the movable part.

Abstract: A miniature two degree of freedom fluid bearing angular rate sensor used primarily for tactical applications includes a spherical hydrodynamic fluid bearing rotor, a permanent magnet motor/torquer, and an optical pick-off, all of which are arranged to provide two axes of rate information in a small package. The individual components can be pre-assembled as sub-assemblies, and individually stocked and tested for final assembly.

Abstract: An apparatus for mounting a flat package type IC on a printed circuit board is disclosed. The apparatus includes: a robot hand for holding the IC; cameras each for taking an image of a part of the IC taking an image of a part of the board, which cameras are fixed to the hand and arranged symmetrically with respect to the rotation axis of the hand; a first processor for obtaining linear deviation and rotational deviation of leads from the images of the IC, and for obtaining linear deviations and rotational deviation of lands from the images of the board; a second processor for obtaining a linear difference between the linear deviations of the IC and board, and for obtaining a rotational difference between the rotational deviations of the IC and board; and a driver for adjusting the position of the IC, by linearly moving the hand by the linear difference, and by rotating the hand by the rotational difference, thereby correctly positioning the leads on the corresponding lands.

Abstract: The drive control apparatus for a linear actuator according to the present invention uses fine actuators, such as an electrostrictive element, so that it is possible to manufacture a linear actuator drive control apparatus obtaining big driving force in spite of a size considerably smaller than the conventional magnetic motor and linear motors utilized electromagnetic force. In addition, since the fine actuator and the driving base repeats their fixings and seperatings, it is possible to make the driven stroke range of the driving base wide. Since the fixing operation and the separating operation are carried out when the speeds of the fine actuator and of the driving base are almost the same, generation of the shock due to sudden speed change of the fine actuator and the driving base at the same of their fixing and separating is prevented, and it is possible to obtain smooth driving of the driving base.

Abstract: A toroid turns counter for a toroid with at least one winding with turns to be counted by electric counting device connected to said winding having a test winding with an opening for receiving the toroid, a movable contact arm for electrically closing the opening after the toroid has been received in the opening, an activating arrangement which is coupled to the contact arm, and controls coupled to the activating arrangement for controlling the closure of the contact arm.

Abstract: The total periodically induced vibratory disturbance in a structure having unique structural characteristics is minimized. Actuators are operated in response to complex input signals to produce counteractive forces in the structure. Sensors responsive to the vibrational disturbance and the counteractive forces produce outputs indicative thereof. A processor having an electrical characteristic related to the structural characteristic produces complex outputs for each actuator in response to the sensor inputs. The complex outputs are adjusted by the processor to result in a convergence of the structural response to the minimum vibration in response to the disturbance and the actuator inputs.

Abstract: The position of a drive shaft of a printing press is regulated during acceleration of the printing press. A position regulator includes a first integrator and a second integrator connected in tandem with the first integrator. The first integrator provides an output signal corresponding to the integral of the difference between a first position signal indicative of the desired position of the drive shaft and a second position signal indicative of the actual position of the drive shaft. The second integrator responds to the output signal from the first integrator to provide a control signal. A control asrrangement responds to the control signal from the second integrator to accelerate the drive shaft. During acceleration of the drive shaft, the difference between the first and second position signals is driven to a value of zero.

Abstract: A signal which is dependent solely on the disturbance variable is selected by means of a filter and fed to a disturbance detector. This disturbance detector simulates the steady and alternating component (sine component) of the selected signal, as well as a signal (cosine component) phase-leading by 90.degree. with the latter signal. The correction signal required to exactly compensate for the disturbance variable is determined from the sine and cosine component of the periodic disturbance signal component by means of frequency-controlled function generators and a complex phasor calculation.

Abstract: An automatic guided vehicle comprising a loading table provided with positioning motors for three directions including two on a horizontal plane and a rotational one around a vertical axis and also with optical sensors for detecting positioning marks at stop positions so that positioning of the automatic guided vehicle at a stop point thereof may be ensured in high precision, and a method for positioning the automatic guided vehicle without attendant with high precision in such manner that the optical sensors detect degrees of deviation between the guided vehicle and the positioning marks, and positioning motors are driven after computing three-directional positioning correction values based on the result of detection or reducing deviation at the loading table.

Abstract: Stable compliance control at a high speed is achieved by cooperation between a manipulator and a wrist body which is located at the end of the manipulator arm.

Abstract: A device for determining the rotational speed and position of a rotor of an electric motor having at least one signal track arranged on the rotor includes at least one sensor located at a stator-side of the electric motor for scanning the signal track, and an evaluation circuit connected to the sensor, the sensor being sensitive to given stimuli of the signal track for alternatively adopting one of three different states which individually produce levels of different magnitude; the evaluation circuit including detectors responsive in accordance with the levels, for cutting off levels of given magnitude so that a recognition of the rotor position is derivable from a first and a second one of the three states, and the rotational speed is derivable from the third one of the three states.

Abstract: A lightweight hand-held scanning device for repetitively scanning a laser light source having a laser light generating means and at least one high speed scanning motor controlled by a resonant motor circuit which automatically controls the frequency and amplitude of oscillation of a high speed scanning motor. The frequency and amplitude control is accomplished by using a single feedback signal obtained from the windings of the motor which indicates resonance and which also measures the amplitude of oscillation. The feedback signal obtained is a second harmonic of the driving current. The circuit can be utilized to tune and maintain the motor in a resonant oscillating mode. By controlling both the frequency and amplitude of oscillation the high speed scanning motor can maintain a consistent scanning speed and use less power.

Abstract: An automatic door includes a control program microprocessed in commensuration with the requirements of a servo-controlled control network of an automatic door and recorded in a read only memory (ROM), whereby upon an initiation by an electric current, a central processing unit (CPU) will give series of instructions to automatically sense the location of the automatic door and will calculate the errors after finishing each operating cycle of the moving door for re-setting the positioning point for each operation mode of a next door movement, and will always monitor the running speed of a motor for driving the door to be compared with a pre-determined value memoried in the ROM so as to exert a warning alarm and to temporarily stop or finally stop a door for safety purpose.

Abstract: In an X-Y addressable workpiece positioner the workpiece to be positioned, such as a semiconductive wafer to be aligned with a mask image, is coupled to move with a work stage moveable in X and Y direction and having a two-dimensional array of positioning indicia affixed thereto for movement therewith. An enlarged image of a portion of the positioning array is projected onto a relatively stationary sensor stage to derive an output determinative of the X and Y coordinates of the positioning array relative to the position of the sensor. The sensed X and Y coordinates of the positioning array are compared with the X and Y coordinates of a reference positioning address to derive an error output. The work stage is moved in response to the error output for causing the workpiece to be positioned to the reference address.

Abstract: A manual power assist control employs a magnetic encoder which is mounted to a shaft of the door operator. The encoder generates pulse trains which are indicative of an attempt to open the door in a given direction. The pulses are processed to generate a signal for opening the doors in the event a manual attempt to open the doors is detected.

Abstract: A method and apparatus for cancelling vibrations caused by periodic pulsating forces acting on a rotating shaft which are synchronous with the shaft rotation. An adaptive algorithm is implemented which utilizes the sensed velocity or acceleration of the difference between the pulsting forces acting on the shaft and an applied control force to generate an estimate of the phase shift existing therebetween to adjust a pair of adaptive weighting coefficients for sine and cosine force components which are adjusted by a least mean square (LMS) algorithm. Actuating signals for the reaction mass actuator are generated from the weighted force components which applies a controlled force to the shaft to oppose the shaft pulsation force and thus cancel the vibration.

Abstract: A radial piston hydraulic motor includes an in-board computer which permits monitoring and control of various operating parameters. A position code disc is associated with the shaft of the motor by means of which the position of the drive cam on the shaft, relative to the individual piston can be sensed and fed to the computer. The motor is of high versatility and performance.

Abstract: A light beam positioning system (10) has the capability of generating accurately positioned beam paths at programmed velocities between any two positions on a target surface (18). The beam positions correspond to beam position and velocity command data processed by a system control computer (22). The invention employs an error correction processor (52) that receives X and Y position coordinate signals (X and Y signals) produced by a conventional position data generator and develops compensated X and Y position coordinate signals (X.sub.c and Y.sub.c signals) for delivery to a light beam positioner (12). The X.sub.c and Y.sub.c signals are derived from a calibration map of an addressable field representing the positions to which the light beam can be commanded on the target surface. The X.sub.c and Y.sub.c signals represent polynominal functions of the X and Y signals and offset beam position errors resulting from the light-directing properties of the system optical components (26, 28, 30).

Abstract: To provide for fine-adjustment of the relative angular position of a driven body of rotation, such as a plate cylinder (1) of a printing machine, and having a driven shaft (21, 41) with respect to a driving shaft (9, 40), an axially shiftable intermediate shaft portion (14, 53) is positioned between the driving shaft (9, 40) and the driven shaft (21, 41) and the body of rotation, respectively. An elastic coupling structure (16, 24; 55, 57), for example a composite stacked leaf spring, and having the characteristic of being circumferentially stiff but axially flexible, couples the intermediate shaft, for axially shifting movement, between the respective shafts. Preferably, two such elastic coupling structures are provided.

Abstract: A chair for sunbathing has a stationary base (1) carrying a rotatable support (2) for a seating or lying surface (4). A motor (7) is controlled by a control unit (10) in a chamber (8) which also contains sensors (9) responsive to ambient sunlight whereby the motor is caused to rotate until it has aligned the chair with the sun's rays. The motor can also be powered by means responsive to solar energy.