公开(公告)号：US4815007A

公开(公告)日：1989-03-21

申请号：US166767

申请日：1988-03-03

申请人： Kenji Sakai ,  Kazuo Sugawara

发明人： Kenji Sakai ,  Kazuo Sugawara

IPC分类号： B25J9/16 ,  G05B19/18 ,  B25J13/00

CPC分类号： B25J9/1676 ,  G05B19/182 ,  G05B2219/34388 ,  G05B2219/36551 ,  G05B2219/43009 ,  G05B2219/45083 ,  G05B2219/49141 ,  G05B2219/49375

摘要： A robot control apparatus provides shortened operating times for movement of a robot member, such as an arm, hand, or the like, without accelerating the movements so as to unduly stress the robot, by beginning movement of the member in a second direction when motion in a first direction has been decelerated to a predetermined level. The process is repeated, when a third movement is involved, with the third movement being initiated, for example, when the second movement has decelerated to an appropriate level. An inhibit control is provided for inhibiting motion of the robot arm in the event of faulty parts preparation, mislocation of a part, or when an obstruction is present.

摘要翻译： 机器人控制装置提供缩短的机器人部件（例如手臂，手等）的运动的运行时间，而不会加速运动，从而通过在运动时在第二方向上开始运动部件，从而不适当地应力机器人 在第一方向已经减速到预定水平。 重复该过程，当涉及第三运动时，例如，当第二运动已经减速到适当的水平时启动第三运动。 提供禁止控制，用于在发生零件准备错误，零件错位或阻塞存在的情况下，抑制机器人手臂的运动。

公开(公告)号：US4233663A

公开(公告)日：1980-11-11

申请号：US968700

申请日：1978-12-12

申请人： Kazuo Sugawara ,  Sei Sanada ,  Yosiharu Kobayashi

发明人： Kazuo Sugawara ,  Sei Sanada ,  Yosiharu Kobayashi

IPC分类号： B41F31/02 ,  B41F33/00 ,  H04N1/22 ,  B41M1/10

CPC分类号： B41F33/0027 ,  Y10S101/45 ,  Y10S101/47

摘要： There is provided an apparatus for estimating a necessary amount of ink for printing which comprises a reading head for scanning an original print to produce analog signals representing the optical densities of the picture dots of the original print, an A-D converter for converting the analog signal from the reading head into digital signal representing one of 256 optical density levels of the picture dot on the original print, a plurality of level counters for classifying the digital signals from the A-D converter into 256 groups each including the digital signals representing the same optical density level and counting the digital signals for each group, and a system controller for multiplying the number of digital signals in each group and the amount of ink required to print the picture dot at a corresponding optical density level to produce the total amount of ink required to print all the picture dots on the original print.

摘要翻译： 提供了一种用于估计必要量的用于打印的墨水的装置，其包括用于扫描原始打印的读取头以产生表示原始打印的图像点的光密度的模拟信号，AD转换器，用于将来自 读取头转换成代表原始打印上的图像点的256个光密度级中的一个的数字信号;多个电平计数器，用于将来自AD转换器的数字信号分为256组，每组包括表示相同光密度级的数字信号 并对每组的数字信号进行计数，以及用于将每组中的数字信号数乘以相应光密度级别打印图像点所需的墨量的系统控制器，以产生打印所需的总墨量 原始打印上的所有图片点。