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    Interference checking method
    1.
    发明授权
    Interference checking method 失效
    干扰检查方法

    公开(公告)号：US5943056A

    公开(公告)日：1999-08-24

    申请号：US668145

    申请日：1996-06-21

    申请人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    发明人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    IPC分类号： G05B19/19 ,  G06F17/50 ,  G06T17/00

    CPC分类号： G06T17/00

    摘要： An interference checking method for checking the interference between two objects in the shape of non-convex polyhedrons, comprising the steps of producing a convex hull for each of the non-convex polyhedrons, and checking the interference of the convex hull of one object with the convex hull of the other object; covering each of polygons which constitute each of the non-convex polyhedrons with a plurality of leaf spheres which have a predetermined radius and which are arranged on each polygon when the distance between the convex hulls becomes not more than a preset value, and sequentially enveloping the leaf spheres with hierarchical spheres so as to produce a binary tree of hierarchical envelope spheres; obtaining a pair of nearby spheres closest by checking the interference between envelope spheres of an upper grade on the basis of the structure of the binary tree, disassembling the interfering envelope spheres into envelope spheres of a lower grade, checking the interference between the envelope spheres of the lower grade, and repeating the interference check process and the disassembly process until no interference is detected; obtaining a nearby polygon pair which corresponds to the pair of nearby spheres; and checking the interference between the nearby polygon pair.

    摘要翻译： 一种用于检查非凸形多面体形状的两个物体之间的干涉的干涉检查方法，包括以下步骤：为每个非凸多面体产生凸包，并且检查一个物体的凸包与 另一个物体的凸包; 使用具有预定半径的多个叶球覆盖构成每个非凸多面体的每个多边形，并且当凸包之间的距离变得不大于预设值时，它们被布置在每个多边形上，并且顺序包围 具有分级球体的叶球，以便产生分层包络球的二叉树; 通过根据二叉树的结构检查较高等级的信封球之间的干扰，将干扰包络球分解成较低等级的包络球，检查包围球之间的干扰，从而获得最近的一对附近球体 低级别，重复干扰检查处理和拆卸过程，直到没有检测到干扰; 获得对应于所述一对附近球体的附近多边形对; 并检查附近的多边形对之间的干扰。

    Arithmetic unit for calculating distance between objects
    3.
    发明授权
    Arithmetic unit for calculating distance between objects 失效
    用于计算物体之间距离的算术单元

    公开(公告)号：US5761391A

    公开(公告)日：1998-06-02

    申请号：US725308

    申请日：1996-10-02

    申请人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    发明人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    IPC分类号： G05B19/41 ,  G05B19/04 ,  G05B19/18

    CPC分类号： G05B19/41 ,  G05B2219/35084 ,  G05B2219/49137

    摘要： A unit in a computer for computing a closest distance between two three-dimensional convex objects. At least one of the objects is a convex curved surface object. A first closest vector arithmetic unit is provided for identifying a preliminary closest vector coupling the closest points of the two objects by repeatedly calculating for each object an inner product of a candidate for the preliminary closest vector directed from a first of the two objects to a second of the two objects and a plurality of position vectors. Each position vector being one of a position vector of a vertex where the first object is a convex polyhedron, and a position vector of a control point of a convex curved surface patch where the first object is a convex curved surface object comprising sets of convex curved surface patches. A position vector for each object having a maximum inner product is extracted and a new candidate for the preliminary closest vector is formed by a vector connecting the two position vectors. A second closest vector arithmetic unit corrects the preliminary closest vector to identify a new closest vector perpendicularly intersecting a tangent plane in contact with the object having a convex curved surface at the closest point by starting from the preliminary closest vector and sequentially updating a given coordinate on the surface of the object until an inner product of a vector on the tangent plane and the closest vector on the given coordinates has the smallest possible value.

    摘要翻译： 用于计算两个三维凸对象之间最近距离的计算机中的单元。 至少一个物体是凸曲面对象。 提供了第一最近的向量算术单元，用于通过针对每个对象反复计算用于从两个对象中的第一个向量指向的初始最近向量的候选的候选项的内积与第二个对象的最接近的点到第二个对象 的两个对象和多个位置向量。 每个位置矢量是第一对象是凸多面体的顶点的位置矢量和第一对象是凸曲面对象的凸曲面补丁的控制点的位置矢量之一，包括凸曲面 表面贴片。 提取具有最大内积的每个物体的位置矢量，并且通过连接两个位置矢量的矢量形成初始最近矢量的新候选。 第二个最接近的向量运算单元校正初始最近的向量，以便从初始最近的向量开始，以便从初始最近的向量开始并依次更新一个给定的坐标，从而识别与最接近的点具有凸曲面的物体垂直相交的切线平面垂直相交的新的最近向量 物体的表面直到切线平面上的矢量的内积与给定坐标上的最接近的矢量具有最小的可能值。

    Method of searching for points of closest approach, and preprocessing method therefor
    4.
    发明授权
    Method of searching for points of closest approach, and preprocessing method therefor 失效
    搜索最接近点的方法及其预处理方法

    公开(公告)号：US5675720A

    公开(公告)日：1997-10-07

    申请号：US710550

    申请日：1996-09-19

    申请人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama ,  Fumio Nagashima

    发明人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama ,  Fumio Nagashima

    IPC分类号： G06T17/00 ,  G06T17/20

    CPC分类号： G06T17/20 ,  G06T17/00 ,  Y10S345/958

    摘要： A method of searching for a point of closest approach between two convex polyhedrons K.sub.1, K.sub.2, wherein each convex polyhedron is expressed by creating directed-graph structure data. The method uses a processing unit for searching for points of closest approach. The method includes the step of successively obtaining points of closest approach to a difference convex polyhedron, which is a difference of sets (K.sub.1 -K.sub.2) between the two convex polyhedrons K.sub.1, K.sub.2, and finally obtaining the point of closest approach on each convex polyhedron K.sub.1, K.sub.2. In the evaluation of inner products executed in the course of searching for points of closest approach, the method further includes the step of judging whether the point of closest approach on each convex polyhedron corresponding to the successively obtained point of closest approach to the difference convex polyhedron resides on a vertex, edge or polygon. This judging step is also performed by the processing unit. In each particular case, the vertices used in the inner-product evaluation are obtained from the directed-graph structure data and the inner product evaluation is performed using the position vectors of these vertices.

    摘要翻译： 搜索两个凸多面体K1，K2之间最接近的点的方法，其中每个凸多面体通过产生有向图结构数据来表示。 该方法使用处理单元来搜索最接近的点。 该方法包括以下步骤：连续获得最差接近差异凸多面体的点，该差异凸多面体是两个凸多面体K1，K2之间的集合（K1-K2）的差异，并且最终获得每个凸多面体最接近的点 K1，K2。 在对最接近点的搜索过程中执行的内部产品的评估中，该方法还包括以下步骤：判断每个凸多面体最接近的点对应于连续得到的差分凸多面体接近点 驻留在顶点，边缘或多边形上。 该判断步骤也由处理单元执行。 在每个特定情况下，从有向图结构数据中获得用于内部产品评价的顶点，并且使用这些顶点的位置向量来执行内部产品评估。

    Manipulator simulation method and apparatus
    5.
    发明授权
    Manipulator simulation method and apparatus 失效
    机械手仿真方法及装置

    公开(公告)号：US5867631A

    公开(公告)日：1999-02-02

    申请号：US618808

    申请日：1996-03-20

    申请人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    发明人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama

    IPC分类号： B25J9/10 ,  B25J9/06 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G06F17/16

    CPC分类号： B25J9/1607 ,  B25J9/1605 ,  G05B2219/39062

    摘要： An apparatus, and method of use therefor, adapted to evaluate angles of rotation of joints for coupling arm-to-arm to each other on the basis of information representative of position and orientation of a tip of a manipulator having six or less arms, which are sequentially coupled with each other, so as to implement the position and the orientation of the tip of the manipulator. A matrix equation is evaluated beforehand in accordance with a mathematical expression processing. Parameters, which represent a figure of the manipulator, are inputted into the resultant matrix equation. Further, the information representative of position and orientation of the tip of the manipulator is entered to evaluate the angles of rotation of joints in accordance with a numerical resolution.

    摘要翻译： 一种用于其的装置及其使用方法，其适于基于代表具有六个或更少臂的操纵器的尖端的位置和取向的信息来评估用于将臂与臂相互联接的关节的旋转角度，其中 彼此顺序耦合，以便实现操纵器的尖端的位置和取向。 根据数学表达式处理预先评估矩阵方程。 表示机械手的图形的参数被输入到合成的矩阵方程式中。 此外，输入表示操纵器的尖端的位置和取向的信息，以根据数字分辨率来评估接头的旋转角度。

    Link mechanism analyzer and link mechanism joint data arithmetic apparatus
    6.
    发明授权
    Link mechanism analyzer and link mechanism joint data arithmetic apparatus 失效
    链接机构分析仪和连杆机构联合数据运算装置

    公开(公告)号：US5831875A

    公开(公告)日：1998-11-03

    申请号：US657166

    申请日：1996-06-03

    申请人： Mitsunori Hirata ,  Yuichi Sato ,  Tsugito Maruyama

    发明人： Mitsunori Hirata ,  Yuichi Sato ,  Tsugito Maruyama

    IPC分类号： F16H21/00 ,  G06F17/50 ,  G06F17/16

    CPC分类号： G06F17/5086

    摘要： There are provided a link mechanism analyzer for performing a performance confirmation or test on a simualation basis for link mechanism produced using a CAD system for a mechanism design, and a link mechanism joint data arithmetic apparatus for evaluating joint data describing a parameter representative of a couping relation between a link of the link mechanism and a joint, which parameter is referred to as, for example, a Deravit-Hartenberg's link parameter, and a parameter value of the paramerter. The evaluation of such a joint data will be needed when a performance confirmation or test on a simualation basis for the link mechanism is performed using the link mechanism analyzer.

    摘要翻译： 提供了一种链接机构分析器，用于在用于机构设计的CAD系统产生的链接机构的基于模拟的基础上执行性能确认或测试，以及链接机构联合数据运算装置，用于评估描述表示耦合的参数的联合数据 链接机构的链接和关节之间的关系，该参数被称为例如Deravit-Hartenberg的链接参数和参数的参数值。 当使用链接机制分析器执行链接机制的模拟基础上的性能确认或测试时，将需要对这种联合数据的评估。

    Eccentricity correction method, signal processing circuit, magnetic storage apparatus and perpendicular magnetic recording medium
    8.
    发明授权
    Eccentricity correction method, signal processing circuit, magnetic storage apparatus and perpendicular magnetic recording medium 有权
    偏心校正方法，信号处理电路，磁存储装置和垂直磁记录介质

    公开(公告)号：US08111474B2

    公开(公告)日：2012-02-07

    申请号：US12605016

    申请日：2009-10-23

    申请人： Tsugito Maruyama ,  Sumio Kuroda

    发明人： Tsugito Maruyama ,  Sumio Kuroda

    IPC分类号： G11B5/09 ,  G11B5/596

    CPC分类号： G11B20/10009 ,  G11B5/59627 ,  G11B20/1217 ,  G11B2220/2516

    摘要： A magnetic storage apparatus has a reproducing head to reproduce information from a perpendicular magnetic recording medium that is recorded with servo information, eccentricity correction data and read/write data. The apparatus further has a filter part to filter a reproduced output of the reproducing head by filtering the servo information which has a differentiated waveform by a non-differentiating characteristic and by filtering the eccentricity correction data and the read/write data which have rectangular waveforms by a differentiating characteristic, a demodulating part to demodulate the servo information, the eccentricity correction data and the read/write data that are filtered by the filter part, and a servo system to carry out a control process including an eccentricity control based on the servo information and the eccentricity correction data that are demodulated.

    摘要翻译： 磁存储装置具有用于从记录有伺服信息，偏心校正数据和读/写数据的垂直磁记录介质再现信息的再现头。 该装置还具有滤波器部分，以通过对具有差分波形的非微分特性进行滤波的伺服信息，并通过滤波具有矩形波形的偏心校正数据和读/写数据来过滤再现头的再现输出 微分特性，用于解调伺服信息的解调部分，由滤波部分滤波的偏心校正数据和读/写数据;以及伺服系统，用于执行包括基于伺服信息的偏心控制的控制处理 以及被解调的偏心校正数据。

    Disk apparatus, information processing system, and information providing apparatus
    9.
    发明授权
    Disk apparatus, information processing system, and information providing apparatus 有权
    磁盘装置，信息处理系统和信息提供装置

    公开(公告)号：US07508620B2

    公开(公告)日：2009-03-24

    申请号：US11474837

    申请日：2006-06-26

    申请人： Kazuhiko Takaishi ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Tsugito Maruyama ,  Hiroyuki Suzuki

    发明人： Kazuhiko Takaishi ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Tsugito Maruyama ,  Hiroyuki Suzuki

    IPC分类号： G11B5/596

    CPC分类号： G11B5/59627 ,  G11B5/59688 ,  G11B2020/1282

    摘要： A storing unit stores first correction information for correcting a distortion synchronized with a rotation frequency of servo information of a first disk. A control unit controls positioning of a head on a target track by correcting the servo information of the first disk with the first correction information. Measurement information used for measuring the first correction information is calculated based on second correction information for the servo information in other disk apparatus including a second disk on which the servo information is formed using a common master medium with the first disk.

    摘要翻译： 存储单元存储用于校正与第一盘的伺服信息的旋转频率同步的失真的第一校正信息。 控制单元通过用第一校正信息校正第一盘的伺服信息来控制头在目标轨道上的定位。 用于测量第一校正信息的测量信息是根据其他磁盘设备中的伺服信息的第二校正信息计算的，该第二校正信息包括使用具有第一盘的公共主介质形成伺服信息的第二盘。

    INFORMATION TRANSFER MASTER FOR MAGNETIC TRANSFER AND MAGNETIC TRANSFER METHOD
    10.
    发明申请
    INFORMATION TRANSFER MASTER FOR MAGNETIC TRANSFER AND MAGNETIC TRANSFER METHOD 审中-公开
    用于磁传输和磁传输方法的信息传输主体

    公开(公告)号：US20080218889A1

    公开(公告)日：2008-09-11

    申请号：US12042173

    申请日：2008-03-04

    申请人： Sumio Kuroda ,  Hiroshi Chiba ,  Tsugito Maruyama

    发明人： Sumio Kuroda ,  Hiroshi Chiba ,  Tsugito Maruyama

    IPC分类号： G11B5/86

    CPC分类号： G11B5/865 ,  B82Y10/00 ,  G11B5/743

    摘要： An information transfer master has servo information pattern to be magnetically transferred to a magnetic recording medium having a lubrication layer thereon; and a contact surface to contact the magnetic recording medium has surface free energy that is 45 mN/m or less when the servo information pattern is magnetically transferred.

    摘要翻译： 信息传送主机具有磁性传递到其上具有润滑层的磁记录介质的伺服信息模式; 并且与磁记录介质接触的接触面在伺服信息图案被磁性传递时具有45mN / m以下的表面自由能。