摘要:
An image correction device for use in pattern inspection apparatus is disclosed. This device includes a pattern extraction unit for extracting a pattern, as a cut-and-paste pattern, from a pattern existence region of an inspection reference pattern image and a pattern image of a workpiece being tested. The device also includes a pattern pasting unit for pasting the cut-and-paste pattern in blank regions of the reference and under-test pattern images to thereby create a pasted reference pattern image and a pasted test pattern image. The device further includes an equation generator for generating by linear predictive modeling a set of simultaneous equations relative to the pasted reference and test pattern images, a parameter generator for solving these equations to obtain a model parameter(s), and a unit for creating a corrected pattern image by the linear predictive modeling using the model parameter(s).
摘要:
An image correction device for use in a pattern inspection apparatus is disclosed, which has automatic adaptability to variations in density of a pattern image of a workpiece being tested. The device is operable to identify a two-dimensional (2D) linear predictive model parameters from the pattern image of interest and determine the value of a total sum of these identified parameters. This value is then used to switch between a corrected pattern image due to the 2D linear prediction modeling and a corrected image that is interpolated by bicubic interpolation techniques. A pattern inspection method using the image correction technique is also disclosed.
摘要:
An image correction method employable in a pattern inspection method for emitting light falling onto a workpiece with a pattern formed thereon and for inspecting a pattern image resulting from the pickup of an optical image of the workpiece by comparing it to a corresponding fiducial pattern image is disclosed. The method includes the step of generating a system of equations describing therein an input/output relation using a 2D linear prediction model(s) with respect to the pattern image being tested and the fiducial pattern image. Then, estimate the equation system by least-squares methods to thereby obtain a parameter of the equation system. Next obtain a centroid of the parameter. Then perform interpolation using the value of the centroid, thereby to generate a corrected image. A pattern defect inspection method using the image correction method is also disclosed.
摘要:
An image correction device for use in pattern inspection apparatus is disclosed. This device includes a pattern extraction unit for extracting a pattern, as a cut-and-paste pattern, from a pattern existence region of an inspection reference pattern image and a pattern image of a workpiece being tested. The device also includes a pattern pasting unit for pasting the cut-and-paste pattern in blank regions of the reference and under-test pattern images to thereby create a pasted reference pattern image and a pasted test pattern image. The device further includes an equation generator for generating by linear predictive modeling a set of simultaneous equations relative to the pasted reference and test pattern images, a parameter generator for solving these equations to obtain a model parameter(s), and a unit for creating a corrected pattern image by the linear predictive modeling using the model parameter(s).
摘要:
An image correction device for use in a pattern inspection apparatus is disclosed, which has automatic adaptability to variations in density of a pattern image of a workpiece being tested. The device is operable to identify a two-dimensional (2D) linear predictive model from the pattern image of interest and determine the amount of eccentricity of a centroid position of this model. This amount is then used to switch between a corrected pattern image due to the 2D linear prediction modeling and a corrected image that is interpolated by bicubic interpolation techniques. A pattern inspection method using the image correction technique is also disclosed.
摘要:
A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
摘要:
A robot control apparatus includes: a joint angular velocity estimation unit (115) calculating a plurality of first joint angular accelerations in already executed control cycles by calculating a joint angular acceleration from a joint angle for each control cycle, and estimating a joint angular velocity in a still unexecuted control cycle from the first joint angular accelerations; a velocity determination unit (113) determining whether the estimated joint angular velocity exceeds a maximum velocity; and a suppression velocity calculation unit (114) calculating a suppression joint angular velocity in the still unexecuted control cycle from the estimated joint angular velocity.
摘要:
A robot controller according to an embodiment of the present invention comprises a base; a first link; a first actuator which drives to rotate the first link relative to the base; a first torque transmission mechanism which transmits the torque of the first actuator to the first link at a speed reducing ratio of N1; a first angular sensor which detects a rotating angle θM1 of the first actuator; a first angular velocity sensor which detects an angular velocity ωA1 of the first link rotating relatively to the base; and a processor which calculates an angle of the first link relatively to the base by using a high frequency content of an integrated value of ωA1 and a low frequency content of θM1*N1, the high frequency content being equal to a first frequency or higher and the low frequency content being equal to a first frequency or lower.
摘要:
A technique for correcting an image by using frequency division images and decomposition images corresponding in number to reference points is disclosed. An image correction apparatus includes an image divider which divides an inspection reference image into frequency regions to form frequency division images, a decomposition image generator for defining reference points at several locations within at least one frequency division image and for applying weighting with each reference point as a reference to thereby generate decomposition images corresponding in number to the reference points, a model parameter identifier for identifying a model parameter by using 2D linear prediction models of an image being tested, the decomposition images and a frequency division image which is out of the generation of decomposition images, and a model image generator for using the model parameter to generate a model image. An image inspection apparatus using the correction apparatus and an image correction method are also disclosed.
摘要:
A robot control apparatus includes: a joint angular velocity estimation unit (115) calculating a plurality of first joint angular accelerations in already executed control cycles by calculating a joint angular acceleration from a joint angle for each control cycle, and estimating a joint angular velocity in a still unexecuted control cycle from the first joint angular accelerations; a velocity determination unit (113) determining whether the estimated joint angular velocity exceeds a maximum velocity; and a suppression velocity calculation unit (114) calculating a suppression joint angular velocity in the still unexecuted control cycle from the estimated joint angular velocity.