公开(公告)号：US4762006A

公开(公告)日：1988-08-09

申请号：US779640

申请日：1985-09-24

申请人： Kazuo Asakawa ,  Nobuhiko Onda ,  Tadashi Akita ,  Toru Kamada

发明人： Kazuo Asakawa ,  Nobuhiko Onda ,  Tadashi Akita ,  Toru Kamada

IPC分类号： G01L1/04 ,  G01L1/22 ,  G01L5/16 ,  G01L5/22

CPC分类号： G01L1/044 ,  G01L1/2243 ,  G01L5/161 ,  G01L5/226

摘要： A force-detecting apparatus includes an elastic member deformable symmetrically with respect to the center. First displacement-detecting means, detect displacements of the elastic member, at positions symmetric with respect to the center, in the same direction with respect to an axis passing through the center of the elastic member, and second displacement-detecting means detect displacements of the elastic member, at the positions symmetric with respect to the center, in opposite directions with respect to an axis passing through the center of the elastic member.

摘要翻译： 力检测装置包括相对于中心对称地变形的弹性构件。 第一位移检测装置，在相对于穿过弹性构件的中心的轴线的相同方向上检测弹性构件在相对于中心对称的位置处的位移，第二位移检测装置检测位移检测装置 弹性构件相对于穿过弹性构件的中心的轴线在相对于中心对称的位置处。

公开(公告)号：US4791588A

公开(公告)日：1988-12-13

申请号：US78008

申请日：1987-07-24

申请人： Nobuhiko Onda ,  Kazuo Asakawa ,  Tadashi Akita ,  Hitoshi Komoriya ,  Toru Kamada

发明人： Nobuhiko Onda ,  Kazuo Asakawa ,  Tadashi Akita ,  Hitoshi Komoriya ,  Toru Kamada

IPC分类号： G05B19/42 ,  B25J9/18 ,  G05B19/423 ,  G05B13/00

CPC分类号： G05B19/423 ,  G05B2219/36429 ,  G05B2219/40087 ,  G05B2219/42092

摘要： A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal.Moreover, a robot control system comprises a control device for controlling the motion of a robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement ) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of the spring meachnisum by a predetermined gain. The control device controls the motion of the robot in response to the addition of a position command generated from the control means and the deflection feedback value.

摘要翻译： 可移动装置驱动系统包括可移动装置的驱动装置，用于检测可移动装置周围的环境信息并响应于环境信息数据输出相应信号的第一输出装置，用于输出命令信号的第二输出装置 驱动驱动装置，以便基于要移动的可移动装置的目标位置数据和可移动装置的当前位置数据将可移动装置移动到目标位置; 以及用于提供由环境信息数据和命令信号构成的复合信号的供给装置。 此外，机器人控制系统包括：控制装置，用于响应于对机器人的命令信号来控制机器人的运动; 设置在机器人的工作点处的弹簧机构，用于检测由施加到机器人的外力引起的偏转（位移）; 以及反馈装置，用于反馈通过将检测到的弹簧锤的输出乘以预定增益而获得的偏转反馈值。 控制装置响应于从控制装置产生的位置指令和偏转反馈值的相加而控制机器人的运动。

公开(公告)号：US4862751A

公开(公告)日：1989-09-05

申请号：US192184

申请日：1988-05-10

申请人： Kazuo Asakawa ,  Nobuhiko Onda ,  Tadashi Akita ,  Toru Kamada

发明人： Kazuo Asakawa ,  Nobuhiko Onda ,  Tadashi Akita ,  Toru Kamada

IPC分类号： G01L1/04 ,  G01L1/22 ,  G01L5/16 ,  G01L5/22

CPC分类号： G01L1/044 ,  G01L1/2243 ,  G01L5/161 ,  G01L5/226

摘要： A force-detecting apparatus comprising an elastic member deformable symmetrically with respect to the center, a first displacement-detecitng means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the same direction, and a second displacement-detecting means for detecting the displacements of the elastic member at the positions symmetric with respect to the center in the opposite directions.

公开(公告)号：US5789090A

公开(公告)日：1998-08-04

申请号：US692491

申请日：1996-08-06

申请人： Yoshinobu Okumura ,  Masahiko Yasui ,  Tadashi Akita ,  Makoto Maeda

发明人： Yoshinobu Okumura ,  Masahiko Yasui ,  Tadashi Akita ,  Makoto Maeda

IPC分类号： G11B5/73 ,  G11B5/66

CPC分类号： G11B5/732 ,  Y10S428/90

摘要： A metallic thin-film magnetic recording medium which is enhanced in coercive force, diminished in nonlinear waveform interference through controlled magnetic anisotropy and adapted to a higher recording density. A seed layer of a crystalline Cr--Ni alloy is formed between the substrate of the medium and a Cr ground layer, whereby the crystal orientation of a magnetic layer is substantially (100) orientation. The crystalline alloy includes an alloy consisting essentially of 36 to 46 atomic % of Ni and the balance substantially Cr, or an alloy consisting essentially of 36 to 46 atomic % of Ni, 0.5 to 3 atomic % of W or Mo or combination thereof and the balance substantially Cr.

摘要翻译： 增强矫顽力的金属薄膜磁记录介质通过受控的磁各向异性而减小非线性波形干扰并适应于更高的记录密度。 在介质的基板和Cr接地层之间形成结晶Cr-Ni合金的种子层，由此磁性层的晶体取向基本上为（100）取向。 结晶合金包括基本上由36至46原子％的Ni和余量基本上Cr组成的合金，或基本上由36至46原子％的Ni，0.5至3原子％的W或Mo或其组合组成的合金， 平衡Cr

公开(公告)号：US07665366B2

公开(公告)日：2010-02-23

申请号：US12199272

申请日：2008-08-27

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： F16B31/02

CPC分类号： B23P19/066 ,  G01L5/24

摘要： The screw tightening control system includes plural screw tightening apparatuses, and a control apparatus that sets a synchronization point after completion of changing tightening torques of the plural screw tightening apparatuses in a current step, and starts changing of the tightening torques of the plural screw tightening apparatuses in a next step, step by step from the synchronization point. The control apparatus causes a timing to start the changing of the tightening torque of at least one of the plural screw tightening apparatuses from the synchronization point to differ from a timing to start the changing of the tightening torque of at least another one of the plural screw tightening apparatuses. The system controls the plural screw tightening apparatuses while synchronizing them so as to avoid the inconveniences in a conventional art by a simple method.

摘要翻译： 螺杆紧固控制系统包括多个螺钉紧固装置，以及控制装置，其在当前步骤中，在多个螺钉紧固装置的紧固扭矩变化完成之后设定同步点，并且开始改变多个螺钉紧固装置的紧固扭矩 在下一步中，从同步点一步一步。 控制装置使得从同步点开始改变多个螺杆紧固装置中的至少一个的紧固扭矩的定时与开始改变多个螺杆中的至少另一个的紧固扭矩的时间不同 紧固装置。 该系统同时控制多个螺丝紧固装置，以便通过简单的方法避免常规技术中的不便。

公开(公告)号：US08295949B2

公开(公告)日：2012-10-23

申请号：US12766175

申请日：2010-04-23

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： G05B19/18 ,  G05B9/02 ,  G06F15/16 ,  G06F3/00 ,  G06F13/00 ,  G06F11/00

CPC分类号： G05B19/4142 ,  G05B2219/33343 ,  G05B2219/33347

摘要： There is provided a control system comprising: a master device that includes: a first transmission section that transmits, to a plurality of slave devices connected thereto through a network, a control command for the slave devices to control a device to be controlled and a flag that have two or more values; and a second transmission section that transmits, to the plurality of slave devices, a control start command for the slave devices to simultaneously start performing control based on the control command transmitted by the first transmission section, and a slave device that includes: a reception section that receives the control command and flag transmitted from the master device; a control command storage section that stores the control command received by the reception section in a storage section in the case where the flag received by the reception section has a specified value; and a first control start section that receives the control start command transmitted from the master device and starts performing control of the device to be controlled based on the control command stored in the storage section using the control start command as a trigger.

摘要翻译： 提供了一种控制系统，包括：主设备，其包括：第一传输部分，其通过网络向与其连接的多个从设备发送用于从设备控制要控制的设备的控制命令和标志 有两个或更多的值; 以及第二发送部，其根据由所述第一发送部发送的所述控制命令，向所述多个从设备发送用于从设备同时开始执行控制的控制开始命令;以及从设备，所述从设备包括：接收部分 接收从主设备发送的控制命令和标志; 控制命令存储部分，在由接收部分接收的标志具有指定值的情况下，将由接收部分接收的控制命令存储在存储部分中; 以及第一控制开始部分，其接收从主设备发送的控制开始命令，并且使用控制开始命令作为触发，基于存储在存储部分中的控制命令开始执行要控制的设备的控制。

公开(公告)号：US07586284B2

公开(公告)日：2009-09-08

申请号：US12201611

申请日：2008-08-29

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： G05B19/40

CPC分类号： G05B19/4141 ,  B23P19/066 ,  G01L5/24 ,  G05B2219/50218 ,  G05B2219/50222

摘要： A synchronization control system includes plural controlling object apparatuses connected through first and second wired OR lines. Each controlling object apparatus includes a function of switching an output to the first wired OR line from a first state to a second state in an odd numberth synchronization waiting state and switching an output to the second wired OR line from the first state to the second state in an even numberth synchronization waiting state. A control apparatus determines an odd numberth synchronization in response to changing of the first wired OR line from the first state to the second state when all the controlling object apparatuses enter the odd numberth synchronization waiting state, and determines an even numberth synchronization in response to changing of the second wired OR line from the first state to the second state when all the controlling object apparatuses enter the even numberth synchronization waiting state.

摘要翻译： 同步控制系统包括通过第一和第二有线OR线连接的多个控制对象装置。 每个控制对象装置包括在奇数步骤同步等待状态下将从第一状态到第二状态的输出切换到第一有线OR线的功能，并将从第一状态到第二状态的输出切换到第二有线OR线 处于第二同步等待状态。 当所有的控制对象设备进入奇数等同状态时，控制装置响应于从第一状态到第二状态的变化响应于第一有线“或”线的变化而确定奇数同步，并且响应于变化而确定第二同步 的第二有线OR线从第一状态到第二状态，当所有控制对象装置进入第二同步等待状态时。

公开(公告)号：US20080315810A1

公开(公告)日：2008-12-25

申请号：US12201647

申请日：2008-08-29

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： H02P6/10

CPC分类号： B23P19/066 ,  B25B21/00 ,  B25B23/14 ,  B25B23/147 ,  G01L5/24 ,  G05B19/404 ,  G05B2219/33078 ,  H02P7/2913

摘要： The motor control apparatus includes a memory that stores a correction data group for suppressing a fluctuation of an output of a motor, and a calculating unit that generates, by using a correction value calculated on the basis of a first output command value input thereto and the correction data group, a second output command value for controlling the output of the motor, the correction value being in accordance with operation position information of the motor. The memory stores plural correction data groups corresponding to predetermined output command values for different torque levels. The calculating unit calculates the correction value in accordance with the first output command value and the operation position information of the motor by interpolation processing using correction data included in at least two correction data groups among the plural correction data groups. The apparatus suppresses the output fluctuation of the motor.

摘要翻译： 电动机控制装置包括：存储器，其存储用于抑制电动机的输出的变动的校正数据组;以及计算部，其通过使用基于输入的第一输出指令值计算出的校正值和 校正数据组，用于控制电动机的输出的第二输出命令值，校正值根据电动机的操作位置信息。 存储器存储对应于不同转矩水平的预定输出命令值的多个校正数据组。 计算单元使用包括在多个校正数据组中的至少两个校正数据组中的校正数据的内插处理，根据第一输出命令值和电动机的操作位置信息来计算校正值。 该装置抑制电机的输出波动。

公开(公告)号：US20100211190A1

公开(公告)日：2010-08-19

申请号：US12766175

申请日：2010-04-23

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： G05B15/02

CPC分类号： G05B19/4142 ,  G05B2219/33343 ,  G05B2219/33347

摘要： There is provided a control system comprising: a master device that includes: a first transmission section that transmits, to a plurality of slave devices connected thereto through a network, a control command for the slave devices to control a device to be controlled and a flag that have two or more values; and a second transmission section that transmits, to the plurality of slave devices, a control start command for the slave devices to simultaneously start performing control based on the control command transmitted by the first transmission section, and a slave device that includes: a reception section that receives the control command and flag transmitted from the master device; a control command storage section that stores the control command received by the reception section in a storage section in the case where the flag received by the reception section has a specified value; and a first control start section that receives the control start command transmitted from the master device and starts performing control of the device to be controlled based on the control command stored in the storage section using the control start command as a trigger.

摘要翻译： 提供了一种控制系统，包括：主设备，其包括：第一传输部分，其通过网络向与其连接的多个从设备发送用于从设备控制要控制的设备的控制命令和标志 有两个或更多的值; 以及第二发送部，其根据由所述第一发送部发送的所述控制命令，向所述多个从设备发送用于从设备同时开始执行控制的控制开始命令;以及从设备，所述从设备包括：接收部分 接收从主设备发送的控制命令和标志; 控制命令存储部分，在由接收部分接收的标志具有指定值的情况下，将由接收部分接收的控制命令存储在存储部分中; 以及第一控制开始部分，其接收从主设备发送的控制开始命令，并且使用控制开始命令作为触发，基于存储在存储部分中的控制命令开始执行要控制的设备的控制。

公开(公告)号：US07759893B2

公开(公告)日：2010-07-20

申请号：US12201647

申请日：2008-08-29

申请人： Tadashi Akita

发明人： Tadashi Akita

IPC分类号： G05B19/10

CPC分类号： B23P19/066 ,  B25B21/00 ,  B25B23/14 ,  B25B23/147 ,  G01L5/24 ,  G05B19/404 ,  G05B2219/33078 ,  H02P7/2913

摘要： The motor control apparatus includes a memory that stores a correction data group for suppressing a fluctuation of an output of a motor, and a calculating unit that generates, by using a correction value calculated on the basis of a first output command value input thereto and the correction data group, a second output command value for controlling the output of the motor, the correction value being in accordance with operation position information of the motor. The memory stores plural correction data groups corresponding to predetermined output command values for different torque levels. The calculating unit calculates the correction value in accordance with the first output command value and the operation position information of the motor by interpolation processing using correction data included in at least two correction data groups among the plural correction data groups. The apparatus suppresses the output fluctuation of the motor.

摘要翻译： 电动机控制装置包括：存储器，其存储用于抑制电动机的输出的变动的校正数据组;以及计算部，其通过使用基于输入的第一输出指令值计算出的校正值和 校正数据组，用于控制电动机的输出的第二输出命令值，校正值根据电动机的操作位置信息。 存储器存储对应于不同转矩水平的预定输出命令值的多个校正数据组。 计算单元使用包括在多个校正数据组中的至少两个校正数据组中的校正数据的内插处理，根据第一输出命令值和电动机的操作位置信息来计算校正值。 该装置抑制电机的输出波动。