Abstract: The invention is an apparatus and process for obtaining values for one or more alignment quantities using one or more transportable devices. The process consists of establishing and maintaining a transportable device in a reference position and a reference orientation, then establishing and maintaining the transportable device in a fixed position and orientation with respect to a target object, then determining the transportable object's position and orientation with respect to the target object from measurements of acceleration and angular velocity of the transportable device as it moves from the reference position and orientation to the fixed position and orientation with respect to the target object, determining the position and orientation of the target object from the position and orientation of the transportable device, repeating the preceding steps as required to obtain position and orientation data for other target objects, and finally determining the values of the alignment quantities.

Abstract: A system for scheduling mold manufacturing includes a number of user computers (1) connected with a server (3) by a network (2), a standard parameter database (5), and a task scheduling database (6). Each user computer includes a standard parameter setting module for setting standard parameters; a task scheduling module for analyzing and calculating a workload of each manufacturing unit and machine, generating a workload list, scheduling working procedures of mold manufacturing, simulating scheduling results, generating a schedule, and transmitting the schedule; a task tracking and feedback module for tracking and sending out feedback of current process and workloads of manufacturing units and machines, generating a work process list, and dynamically updating the workload list. A related method is also disclosed.

Abstract: This invention provides an output service provision system which is capable of allowing a user to easily receive a provided output service, providing an output service responsive to the user and flexibly coping with situational variations. Upon determining that a virtual object B is in an area-in state with respect to a virtual object A, a virtual object management device can transmit an area-in notification to a projector. Upon receiving the area-in notification, the projector can transmit a projector display data transmission request to a portable terminal and receive projector display data transmitted in response to the transmission request. The projector can then execute a projection process by a projection device on the basis of the received projector display data. The portable terminal can transmit the projector display data to the projector in response to the projector display data transmission request.

Abstract: A method and a device are provided for detecting the occurrence of a malfunction upon movement of an element by a driving system. While the element is being moved, a difference between a predetermined value and an actual value is determined at regular intervals by means of a processor. A derivative of the difference is determined by the processor at regular intervals. The difference and the derivative both fluctuate around an equilibrium value. Subsequently, only the values on one side of the equilibrium value of both the difference and the derivative are sampled. The sampled values are multiplied and the result is compared with a reference value by means of the processor. The occurrence of a malfunction is established if the result of the multiplication is higher than the reference value.

Abstract: A method for producing a control output is described. The method includes identifying an error signal and decomposing the error signal into a plurality of signal components. The signal components are determined based on a plurality of orthogonal functions representing multi-resolution decomposition properties. The method further includes transforming each signal component. The transformed signal components are summed to determine a control signal.

Abstract: A system for wafer handling employing a complex numerical method for calculating a path of wafer travel that controls wafer acceleration and jerk, and results in maximum safe speed of wafer movement from a first point to a second point. Motion is begun along a straight line segment while accelerating to a first path velocity. During this acceleration, the system computer calculates a series of straight line segments and interconnecting sinusiodally shaped paths over which the wafer is to be guided to the second point. The straight line segments and sinusiodally shaped paths are calculated so as to minimize total path length and the time required to move the wafer from the first point to the second point. The system computes the point of entrance and exit to and from each straight and sinusoidal path.

Abstract: A process and device for computer-aided adaptation of an application program for a machine tool is described. A sequence of control commands for feed axes of the machine tool defines a contour to be traveled by a tool relative to a workpiece. Based on the sequence of control commands, a computer determines sequential instructions for a round axle of the machine tool to track the contour and determines if, and possibly at which locations, the contour has angular or curvature discontinuities. When such angular or curvature discontinuities occur, the computer determines sequential instructions, so that the round axle begins to start accelerating before the angle or curvature discontinuities occurs, and the acceleration of the round axle terminates only after the angle or curvature discontinuity has ended.

Abstract: A motor control device comprises: a current limiter 115 for limiting a current-instruction signal Ir for a motor 18 and for turning a limiting signal L from off to on when the current-instruction signal Ir reaches a predetermined value; a model-position-generating part 220 having a model of an equivalent position-control system that includes characteristics of the motor control device 100 and a control target object, and calculating rotational position of the motor 18 as a model-position signal ?m by inputting to the model a position-instruction signal ?r; a correctional acceleration-generating part 240 for generating a correctional acceleration signal ?se based on a correctional position deviation ?se when the limiting signal L turns on; and a position-instruction-generating part 260 for generating the position-instruction signal ?r based on an acceleration deviation ?r that is equal to the difference between the original-acceleration-instruction signal Va and the correctional acceleration signal ?se.

Abstract: There are provided a positioning control method and a positioning control device, which enables high speed positioning with low power consumption without repeating two or more acceleration and deceleration operations during travel from an original position to a target position. There is also provided an electronic component mounting apparatus, which enables high speed positioning with low power consumption and enables mounting of electronic components in a short period of time. When a movable body is moved from the original position to the target position, there is set an operational passing position for avoiding a passing avoidance region, and driving of a drive unit having a smaller travel distance from the original position to a coordinate of the operational passing position is started later than driving start timing of a drive unit having a longer travel distance, from the original position to another coordinate of the operational passing position, by a specified period of time.

Abstract: When a position/speed feedback changes while a control system for driving a feed axis uses an integration gain during a shaft stopping, the control system goes unstable to cause a torque instruction to vibrate or diverge. In addition, only a single, narrow-range feed speed can be accommodated to find an out-of-range speed to be insufficient or excessive in compensation effects. After detecting the movement reversal of a feed axis, a control loop is modeled, a virtual internal model computing unit (21) using a constant separate from a constant used in a control loop is configured, a virtual torque instruction (22) computed by this computing unit (21) is added to a torque instruction (16) for driving the feed axis, this adding is terminated when the virtual torque instruction (22) reaches a specified value, and a value (25) of an integrator in a virtual internal model at the adding termination is added to the integrator (14) corresponding to a position/speed feedback loop.

Abstract: A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive axes are not exceeded. A program is analyzed in a command analysis section, and an interpolated position on a motion path in the rectangular coordinate system is determined in a first interpolation section, and then converted by means of a transformation section into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section, a tangential acceleration is determined. In a velocity limit calculating section, a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes.

Abstract: A method for controlling at least one device (12) with a control system (10). The devices (12) can provide input signals (16) to the control system (10), receive output signals (14) from the control system (10) to operate the device (12), or a combination of both. When the device (12) is first connected to the control system (10), the control system (10) identifies the device (12) and selects a set of parameters and instructions from a database (18). An operator can then select values for the parameters. The parameters and instructions then define the operation of the device (12). Each controlled device (12) acts autonomously with respect to other devices (12). When the device (12) is actuated through a series of operations, the method determines the next operation of the device (12), after the device (12) has been turned off and back on again.

Abstract: A lithography system and method for calculating an optimal discrete time trajectory for a movable device is described. A trajectory planner of the lithography system calculates an optimal discrete time trajectory subject to maximum velocity and maximum acceleration constraints. The trajectory planner begins by calculating a continuous time, three-segment trajectory for a reticle stage, a wafer stage or a framing blade, including a first phase for acceleration at the maximum acceleration to the maximum velocity, a second phase for travel at the maximum velocity and a third phase for deceleration at the negative maximum acceleration to a final velocity. Next, the trajectory planner converts said continuous time, three-segment trajectory to a discrete time trajectory. The time of execution of the resulting trajectory is at most three quanta greater than the time of execution of the continuous time trajectory. One advantage of the system is the reduction of scanning times of a lithography system.

Abstract: This invention provides an output service provision system which is capable of allowing a user to easily receive a provided output service, providing an output service responsive to the user and flexibly coping with situational variations. Upon determining that a virtual object B is in an area-in state with respect to a virtual object A, a virtual object management device can transmits an area-in notification to a projector. Upon receiving the area-in notification, the projector can transmits a projector display data transmission request to a portable terminal and receives projector display data transmitted in response to the transmission request. The projector can then executes a projection process by a projection device on the basis of the received projector display data. The portable terminal can transmits the projector display data to the projector in response to the projector display data transmission request.

Abstract: In a method for operating machines (138) with a plurality of shafts (102, 110, 111), in which the shafts (102, 110, 111) are each driven, synchronized with one another, by individual drive mechanisms (103) belonging to them, in accordance with an electronic, chronological guide shaft function, which corresponds to an instantaneous position of a guide shaft L, and the motions of a plurality of derived shafts (102, 110, 111) are derived from the guide shaft L in accordance with conversion functions that correspond to respective predetermined mechanical conversions (106, 107, 108, 109) with respect to the guide shaft L, it is proposed, in order to improve the method in such a way that—particularly when there is a large number of shafts to be regulated—simple startup at comparatively little expense for equipment is permitted, that all the shafts (102) of at least one group (117) of shafts, which correspond to one another in terms of the conversion (106, 107, 108, 109), obey an electronic, chronological following

Abstract: A method of and apparatus for synchronous control of a leading element and a follower element in which synchronism is started smoothly and a mechanical shock at the start of synchronism is reduced. When the follower element is started to move to be synchronized with the leading element, motion of the follower element is started before the follower element reaches a start position of the synchronism, and brought into synchronism with the leading element at the start position of synchronism. A positional relationship between the leading element and the follower element in synchronism, and a start position for starting the synchronism of the follower element and the leading element is set. An acceleration control of the follower element is performed between a motion start position preceding the start position of the synchronism and the start position of the synchronism.

Abstract: A distributed control system having system components (1, 2, 3). The positions of the system components (1, 2, 3) are stored in respective memories (11, 12, 13) as component-specific data, which represent the spatial coordinates of the positions. The system components (1, 2, 3) transmit their respective positions to a configuration unit (4) via a communications channel (5). By means of a layout plan, e.g., in the form of a piping and installation diagram, the component-specific data of the individual system components (1, 2, 3) is assigned to the configured system components. In addition, a respective physical address is assigned to each of the system components (1, 2, 3). This achieves simple and reliable configuration of the system components (1, 2, 3). The distributed control system is used, in particular, in process apparatuses.

Abstract: Learning control is performed when carrying out processing by repeating instructions in a pattern cycle. Time/position converting means determines a positional deviation for a prescribed position with respect to a reference position, from the positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in the memory means is added to the positional deviation, and then the result is subjected to filtering processing to update the correction data corresponding to the position. Position/time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

Abstract: A method, system, and computer program product for non-real-time trajectory planning and real-time trajectory execution. A trajectory planning process receives data generated by high-level control software. This data defines positions and scan velocities, where multiple axis motion must be precisely synchronized. The trajectory planning process creates sequences of constant acceleration intervals that allow critical motions to be executed at maximum throughput. The output of a trajectory planning process is known as a profile. A profile executor, using the profile output by the trajectory planner process, generates continuous, synchronized, filtered, multi-axis position and acceleration commands (i.e., execution data) that drive control servos. Time intervals generated by the trajectory planner are quantized to be integer multiples of a real time clock period.

Abstract: A programmable controller comprises a speed pattern generator(12) including speed pattern generator units (12a-12n) that respond to input quantities of the amount of movement, speed, acceleration time and deceleration time by calculating a desired speed pattern for output to a servomotor (17). A desired speed pattern is generated by simultaneously operating any of the speed pattern generator units (12a-12n) of the speed pattern generator (12). The speed pattern provided by the speed pattern generator (12) is output to a console (14), on which the user can process the speed pattern freely.

Abstract: A portable advisory system for balancing airflows in a paint booth includes a portable airflow sensor to measure airflows in the paint booth, and a portable computer connected to the airflow sensor for collecting data from the airflow sensor and guiding an operator through a process of adjusting multiple fan speeds and duct dampers to achieve desired airflows.

Abstract: An apparatus and method for generating a trajectory used in precision lithography, includes receiving first input parameters for a first trajectory and second input parameters for a second trajectory, converting the first input parameters of the first trajectory into a first derivative-jerk and the second input parameters of the second trajectory into a second derivative-jerk. The first and second derivative-jerk are arranged with the first derivative-jerk overlapping the second derivative-jerk by a time interval, and then combining the first derivative-jerk and the second derivative-jerk together into a third derivative-jerk using a shorter period of time compared with the time to finish the combination of the first derivative-jerk and the second derivative-jerk.

Abstract: A motion control system and method are disclosed which provide improved pulse placement for smoother operation of a motion device such as a stepper motor. A placement of pulses may be determined for each of a plurality of time intervals such that the pulses are placed evenly across the plurality of time intervals, wherein the quantity of pulses in each of the time intervals is variable. The pulses may be generated and sent to the motion device to move the object to the desired position. A delay may be used to place each pulse at an arbitrary location within one of the time intervals. Where the desired step rate is fractional, time may be “borrowed” for one loop iteration from other loop iterations. In one embodiment, the step rate may be changed from one loop period to the next.

Abstract: There is provided a print control unit capable of transferring and stopping an object to be controlled at a target position when unexpected load is applied to the object. A print control unit includes: a selection control part, operating at a predetermined timing, to select and set the control parameters in accordance with the target speed, to judge as to whether the object is located within a target range, based on the output of the position detecting part, if located, the selection control part selecting and operating the third control part, while if the object is not located within the target range, the selection control part selecting and operating the first or the second control part based on the physical value corresponding to the speed.

Abstract: A system of intelligent appliances coupled by common household power lines or wireless links. One or more of the appliances serves as a system controller and may include a further communications interface for coupling to an external communications network, such as the telephone network. The system can thus be accessed and controlled remotely. The system can also communicate with and obtain information from remote sources such as Internet-based facilities.

Abstract: A position is obtained from a command movement for a controlled axis. The position of a virtual axis with respect to time and an I/O signal are obtained. The position of the controlled axis and the state of the I/O signal are stored in association with the position of the virtual axis, and cam shape data and I/O signal state data are obtained. During an electronic cam operation, the virtual axis position is controlled by means of virtual axis control means. Corresponding to the position of the virtual axis, the position of the controlled axis or the I/O signal state is read from the cam shape data and the I/O signal state data and outputted, whereby the controlled axis is driven.

Abstract: A lithography system and method for calculating an optimal discrete time trajectory for a movable device is described. A trajectory planner of the lithography system calculates an optimal discrete time trajectory subject to maximum velocity and maximum acceleration constraints. The trajectory planner begins by calculating a continuous time, three-segment trajectory for a reticle stage, a wafer stage or a framing blade, including a first phase for acceleration at the maximum acceleration to the maximum velocity, a second phase for travel at the maximum velocity and a third phase for deceleration at the negative maximum acceleration to a final velocity. Next, the trajectory planner converts continuous time, three-segment trajectory to a discrete time trajectory. The time of execution of the resulting trajectory is at most three quanta greater than the time of execution of the continuous time trajectory. One advantage of the system is the reduction of scanning times of a lithography system.

Abstract: A speed adjustment control method includes determining an amount of variation in speed from a data table corresponding to |command speed−initial speed| and speed adjustment time, determining number of divisions of |command speed−initial speed| by dividing |command speed−initial speed| by the amount of variation in speed, determining number of divisions of the speed adjustment time by subtracting 1 from the number of divisions of |command speed−initial speed|, determining a speed variation interval by dividing the speed adjustment time by the number of divisions of the speed adjustment time, determining a value for speed that is obtained by adding the amount of variation in speed to previously determined speed for each speed variation interval after starting with a speed obtained by adding amount of variation in speed to the initial speed during acceleration, switching over to the command speed on attaining the command speed, and d

Abstract: A positioning device and method can position a subject of positioning at a higher speed than conventional ones. A positioning device and method for moving a subject of positioning to a desired position, moves the subject of positioning at a desired speed and acceleration, and adjusts the acceleration/deceleration duration of the subject of positioning and the timing of starting the deceleration so as to cancel the residual vibration, in accordance with the vibration period of the residual vibration that occurs immediately after positioning the subject of positioning.

Abstract: A method for compensating signals from an absolute angular position sensor assembly is used in conjunction with an absolute angular position sensor assembly having an input gear coupled to a rotating shaft. The input gear is meshed with an output gear that rotates as the input gear and the shaft rotate. The sensor assembly includes an input gear sensor and an output gear sensor placed in proximity to the input gear and output gear, respectively. The gears are configured so as to be sensed by the sensors. The method includes determining an angular position compensation value that is used to adjust an absolute position of the input gear, which in turn is used to compute the absolute position of the rotating shaft.

Abstract: Method and system for a direct transmission of motion path data (310) from a generating system (204) to a control system (205) for use in controlling a servo-driven machine. For example, a machine tool for machining stock material, and the data generating system includes a computer-aided-design software package (301). Tool paths for directing the tool members of the machine tool can be extracted from a design file opened by the CAD software through the operation interface of the CAD software (302). Alternatively, the design file can be used to specify motion paths rather than end product geometry. The CAD interpreter application extracts the motion path data from the design file, eliminating the need to translate the data into another or intermediate form for controlling the machine tool.

Abstract: A computer based method of controlling an industrial process, including the steps of measuring the values of at least one process variable (y1, y2), and predicting future deviations of one process variable (y1) with regard to the measured value of said at least one process variable (y1, y2), and providing a control signal (uFB) based on said predictions, and by means of a first control law. The method comprises the further steps of measuring a measurable disturbance (d) in the process, predicting future deviations of said process variable (y1) with regard to said disturbance but without regard to the measured value of said at least one process variable (y1, y2), and providing a control signal (ud) based on said predictions by means of a second control law.

Abstract: This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.

Abstract: An acceleration limiting electronic filter for a position motion control system is disclosed. The filter is used in conjunction with a position control system to precisely control the position of a device. The present invention limits the acceleration content of a position command signal to some value less than what the control system can execute so that the control system does not clip the acceleration and degrade control.

Abstract: An adaptive closed-loop controller is described that reduces repetitive speed variations of precision rotatable mechanical components, such as rollers, casting wheels, pulleys, gears, pull rollers, extruders, gear pumps, and the like. A system is illustrated in which the controller is coupled to a motor for driving a rotatable mechanical component in response to a motor control signal. A sensor is mounted to the shaft of the mechanical component, and generates a speed signal representing angular velocity of a mechanical component. The controller receives the speed signal, and generates a set of data elements to relate speed variations of the mechanical component to a plurality of angular positions of the mechanical component over one or more revolutions. The controller generates an error signal based on the data elements and introduces the error signal into closed-loop control circuitry to provide adaptive control over the mechanical component.

Abstract: Automatic speed loop gain adjustment of a feedback control system begins by setting up a phase margin range and a gain margin range. A speed open loop condition is provided by separating a speed command value from a speed feedback value. White noise is input into the feedback control system where the speed open loop condition has been made. A phase margin and a gain margin are then detected and comparisons are made with the phase margin range and the gain margin range, respectively. The speed loop gain is adjusted if the comparison results for either one of the detected phase margin and the detected gain margin fall outside of the associated phase margin range or gain margin range. Once the adjustment of the speed loop gain is complete, the position loop gain of the position control loop is adjusted on the basis of the adjusted speed loop gain.

Abstract: A controlling method and apparatus for positioning a robot that can output an optimal speed instruction for controlling residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation comprising: performing a test operation to measure a frequency of a residual vibration that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which vibration magnitude is minimized; and performing the point-to-point operation for the calculated shortest moving time, thereby to position the robot (1) at the target position.

Abstract: When a position/speed feedback changes while a control system for driving a feed axis uses an integration gain during a shaft stopping, the control system goes unstable to cause a torque instruction to vibrate or diverge. In addition, only a single, narrow-range feed speed can be accommodated to find an out-of-range speed to be insufficient or excessive in compensation effects. After detecting the movement reversal of a feed axis, a control loop is modeled, a virtual internal model computing unit (21) using a constant separate from a constant used in a control loop is configured, a virtual torque instruction (22) computed by this computing unit (21) is added to a torque instruction (16) for driving the feed axis, this adding is terminated when the virtual torque instruction (22) reaches a specified value, and a value (25) of an integrator in a virtual internal model at the adding termination is added to the integrator (14) corresponding to a position/speed feedback loop.

Abstract: A controller for a machine capable of performing acceleration/deceleration control to which an optimal tangential acceleration within an allowable maximum acceleration for each axis is applied. A first interpolation section receives data obtained by analysis of a program by a command analysis section, an makes interpolating calculation in every first sampling period to output it into an intermediate memory. A tangential acceleration calculating section determines a tangential acceleration based on each segment and the allowable maximum acceleration for each axis to output it into the intermediate memory. A deceleration target velocity calculating section prepares an acceleration/deceleration pattern for a plurality of segments stored in the intermediate memory, to output it to the intermediate memory.

Abstract: An object is to reduce damage to the mechanical parts of a moving mechanism unit 5 for moving a retaining mechanism unit 7 and electric power consumption in an apparatus for taking out a molded product. The apparatus comprises a time measuring unit 4 for measuring a return time elapsing between a start of the returning operation of the retaining mechanism unit 7 in a preceding process and the next start of the penetrating operation for taking out a molded product; an arithmetic operation unit 11 for calculating a return moving speed distribution for a process succeeding the preceding process such that the returning operation terminates upon elapse of the return time measured by the time measuring means 4; and a control unit 12 for activating the moving mechanism unit 5 in such a way that the returning operation is carried out according to the return moving speed distribution in the succeeding process.

Abstract: A robot provides a communicating means to move based on the transmission and reception of information to/from the outside, thereby making it possible to realize a robot with high usability. In addition, it recognizes the user's condition based on sensors provided around a user and outputs a response message according to the recognition. Thus, an information processing system which is very helpful can be realized.

Abstract: There is provided a control apparatus adapted to easily and securely plural robots in an individual manner so that they can be controlled. In more practical sense, when one robot unit is controlled, a slide button 52 is switched to the module A side. When the other robot unit is controlled, such button is switched to the module B side. When a button 51 caused to correspond to sound name is operated, sound corresponding to that sound name is outputted at sound pitch corresponding to switching position of the slide button 52, and robot is controlled by that sound. Respective robots take thereinto only audio signals of sound pitches corresponding thereto.

Abstract: In a position in control, a velocity error is compared to a limit that is a non-linear, continuous and differentiable function of the position error. If the position error is greater than a limit or magnitude, the velocity limit is used for the velocity command; otherwise the position error is used.

Abstract: A boom control apparatus and method are disclosed for controlling a boom of a machine. The boom control apparatus includes a boom angle sensor, a boom length sensor, a chassis pitch angle sensor, a chassis roll angle sensor, and a control lever. All of the sensors generate signals associated with the values of their measured parameters. Movement of the control lever along a first axis generates a first pivot velocity signal for a desired pivot velocity of the boom. Movement of the control lever along a second axis generates a first telescoping velocity signal for a desired telescoping velocity of the boom. An electrohydraulic control module detects the signals from the sensors and the control lever. The electrohydraulic control module generates a second pivot velocity signal or a second telescoping velocity signal. The second signals are directly proportional to the first signals and inversely proportional to the signals generated by the sensors.

Abstract: According to the present invention, an analog evaluation circuit, the digitization and the conversion into physical variables are moved from the higher-order control system into the sensor system, and the control system is connected to this new sensor system through a synchronous high-speed transmission system. This serial real-time sensor interface provides the network capability of the transmission system and also permits simpler cabling.

Abstract: An apparatus and method for providing coordinated control of a work implement of a work machine. The implement includes a boom having a first end portion and a second end portion, with the first end portion pivotally connected to the frame and the second end portion pivotally connected to a load-engaging member. The apparatus includes a boom position sensor adapted for providing a boom position signal, and an input device adapted for delivering a desired boom velocity signal indicative of the desired velocity of the boom. The desired velocity of the boom includes a desired angular velocity and a desired linear velocity. The apparatus receives the boom position signal and the desired boom velocity signal, and determines an actual velocity of the boom as a function of the boom position signal.

Abstract: Position droops produced in main and auxiliary servo motors when main and auxiliary spindles are coupled to each other through a workpiece are obtained by adders, respectively, a difference between those position droops is obtained by a comparator before coupling, a divider divides the position droop difference by the speed of the auxiliary servo motor at the time of detecting the position droop to obtain a position droop difference per a unit speed. Then, after both the spindles are coupled to each other, a multiplier multiplies the position droop difference by the present speed of the auxiliary servo motor, and the adder adds that value to the position command to the auxiliary servo motor. With the above structure, even if coupling is made through the workpiece and synchronization drive is made, an excessive torque can be prevented from occurring, an influence of a change of the change gear ratio with a time is eliminated and a displacement occurring at the time of coupling is corrected.

Abstract: A manually actuated input device for commanding machine- and/or computer-assisted control operations for kinematic motions of a real or virtual multipart object, including a force/moment sensor with which linear displacements in the form of translational movements in the direction of three axes (X, Y, Z), each standing perpendicular on the other, of a three-dimensional rectangular system of coordinates and/or rotational excursions in the form of rotational motions (A, B, C) about these three axes are sensed and converted into commanded motions of the object to be controlled is characterized by the commanded individual linear displacements and/or rotational excursions of the force/moment sensor being assigned specific kinematic motion patterns of parts of the real or virtual object thereby permitting manipulation or animation thereof as a transforming interlink and by the commanded velocities of the corresponding individual linear displacements and/or rotational excursions of the force/moment sensor being addi

Abstract: When a motor vehicle is not in motion, an algorithm for establishing the initial zero point offset values for a yaw rate sensor as may be used in motor vehicle software control systems. The initial values are the manufactured values and are downloaded into the vehicle ECU at the time of the manufacture of the ECU. When the vehicle is waken at the vehicle assembly and the ignition is first turned on, the initial actual value of the zero point offset is stored both as a maximum and minimum value. At subsequent adjusting times when the vehicle is not moving, but the ignition is on, the spread between the maximum and minimum values are checked. If the spread becomes greater than a desired predetermined spread, the value, be it the maximum or minimum value reflects the measured value and the other value is adjusted to be within the desired spread. When the ignition is turned off and the vehicle is not moving, the zero point offset maximum and minimum values are stored in memory.

Abstract: A numeric control device of a turning mechanism which turns a turning body from a driving source which circularly moves through a non-linear transmitting mechanism has a coordinate transformation device outputting a signal which converts an inputted turning angular signal into a position of the driving source, and a compensator outputting a signal which is derived from computing a positional error of the driving source in accordance with the turning angular signal, and the control of the driving source is carried out by a servo-input signal which is derived from the sum of a conversion signal outputted from the coordinate transformation device and a compensation signal outputted from the compensator. Since the numerical control mechanism of the present invention controls the driving source with addition of the compensation signal, it becomes possible to stabilize the turning velocity of the turning body with high accuracy.