公开(公告)号：US4621332A

公开(公告)日：1986-11-04

申请号：US621717

申请日：1984-06-18

申请人： Koichi Sugimoto ,  Hisaaki Hirabayashi ,  Shinichi Arai ,  Shiyuki Sakaue

发明人： Koichi Sugimoto ,  Hisaaki Hirabayashi ,  Shinichi Arai ,  Shiyuki Sakaue

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  G05B13/00

CPC分类号： B25J9/1633 ,  B25J13/085

摘要： Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.

摘要翻译： 用于控制机器人的方法和装置，其中通过检测施加到机器人的手的力来计算力信号，计算表示力信号和力参考之间的差的第一值，第二值表示 计算代表当前位置的位置信号和手的姿势与位置参考乘以弹簧常数之间的差异，表示表示当前手速度的速度信号乘以粘度系数的乘积的第三值是 并且基于第一，第二和第三值以及质量系数来计算手的指令速度。

公开(公告)号：US4617502A

公开(公告)日：1986-10-14

申请号：US623455

申请日：1984-06-22

申请人： Shiyuki Sakaue ,  Koichi Sugimoto ,  Shinichi Arai

发明人： Shiyuki Sakaue ,  Koichi Sugimoto ,  Shinichi Arai

IPC分类号： B25J9/18 ,  G05B19/23 ,  G05B19/42

CPC分类号： G05B19/232 ,  G05B19/42 ,  G05B2219/33119 ,  G05B2219/33263 ,  G05B2219/41177 ,  G05B2219/45083

摘要： A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

摘要翻译： 一种用于以两个点之间的空间中的预定速度的预定路径来控制机器人手的方法和装置，其中基于机器人手上的位置信息和速度信息来确定命令速度的值，更具体地，关于 与机器人手与预定路径的位置偏差成比例的值的总和的基数，与从开始点执行的采样操作期间确定的累积位置偏差成比例的值，与机器人的速度偏差成比例的值 在恒定速度区域内从初始采样点执行的采样操作期间确定的与累积速度偏差成比例的值。

公开(公告)号：US4674947A

公开(公告)日：1987-06-23

申请号：US777289

申请日：1985-09-18

申请人： Toyohide Hamada ,  Koichi Sugimoto ,  Kiyohide Koizumi ,  Shinichi Arai

发明人： Toyohide Hamada ,  Koichi Sugimoto ,  Kiyohide Koizumi ,  Shinichi Arai

IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J9/06

CPC分类号： B25J9/044 ,  B25J9/042 ,  B25J9/1065

摘要： There is disclosed in this application an industrial robot comprising: a first arm pivotally supported at its one end for rotation around a first axis; a second arm pivotally supported at its one end by the other end of the first arm for rotation around a second axis parallel to the first axis; a wrist mechanism carried by the free end of the second arm and having at least one degree of freedom; and driving motors for driving the first arm, the second arm and the wrist mechanism, respectively; wherein at least one of the first arm and the second arm is connected to the drive motor through a double link mechanism having a phase difference.

摘要翻译： 在本申请中公开了一种工业机器人，其包括：第一臂，其一端枢转地支撑，以围绕第一轴线旋转; 第二臂在其一端处由第一臂的另一端枢转地支撑，以围绕平行于第一轴线的第二轴线旋转; 由第二臂的自由端承载并具有至少一个自由度的手腕机构; 以及用于分别驱动第一臂，第二臂和手腕机构的驱动马达; 其中所述第一臂和所述第二臂中的至少一个通过具有相位差的双连杆机构连接到所述驱动马达。

公开(公告)号：US4620436A

公开(公告)日：1986-11-04

申请号：US784502

申请日：1985-10-04

申请人： Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Shinichi Arai ,  Tomoyuki Masui ,  Hidetoshi Inaba

发明人： Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Shinichi Arai ,  Tomoyuki Masui ,  Hidetoshi Inaba

IPC分类号： B25J9/16 ,  B25J13/08 ,  G01L5/16 ,  G01L5/22 ,  G01L25/00

CPC分类号： G01L25/00 ,  B25J13/085 ,  B25J9/1692 ,  G01L5/161 ,  G01L5/226

摘要： The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.

摘要翻译： 本发明涉及一种用于校准力传感器的变换矩阵的方法和装置，其中：力传感器安装在机械手的腕部和手部之间; 其重量和重心位置已知的标准作业（重量）被附着或保持在手部; 机器人的每个驱动源响应于来自控制单元的命令而操作，从而顺序地改变附接到机器人的力传感器的姿势; 控制单元根据来自编码器的信号检测到的力传感器的姿态和位置信息，从由运算操作产生的力和力矩构成的力，以检测机器人的每个操作元件的操作量 并且从作为数据输入的标准作品的重心和作为数据的手部等的重量和位置; 控制单元接收从力传感器检测到的应变电压; 控制单元根据由力和力导出的力，根据预定的算术逻辑方程从接收的应变电压计算力传感器的变换矩阵，然后将变换矩阵存储到存储装置中; 然后校正力传感器的变换矩阵。

公开(公告)号：US4594671A

公开(公告)日：1986-06-10

申请号：US458998

申请日：1983-01-18

申请人： Koichi Sugimoto ,  Kiyohide Koizumi ,  Toyohide Hamada ,  Shinichi Arai

发明人： Koichi Sugimoto ,  Kiyohide Koizumi ,  Toyohide Hamada ,  Shinichi Arai

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  G05B19/416 ,  G05B19/407 ,  B25J9/00 ,  G05B11/32

CPC分类号： G05B19/416 ,  G05B2219/43188 ,  G05B2219/43203

摘要： A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.

摘要翻译： 一种控制工业机器人的方法，其中用于机器人的致动器的速度基于沿着预定行进路径移动的机器人手的速度。 当任何单个致动器的速度超过其能力时，执行器的速度被修正，以便使所有致动器的速度达到其能力，从而修正机器人手沿其行进路径的速度。 可以基于机器人手和雅可比矩阵的位置和姿态来执行每个致动器的速度的计算。

公开(公告)号：US08033141B2

公开(公告)日：2011-10-11

申请号：US12040236

申请日：2008-02-29

申请人： Minsuk Song ,  Shinichi Arai

发明人： Minsuk Song ,  Shinichi Arai

IPC分类号： C03B37/025

CPC分类号： C03B37/02745 ,  C03B37/032 ,  C03B2203/19 ,  C03B2203/36 ,  C03B2205/06

摘要： A coating is applied on an optical fiber drawn from a melted tip of an optical-fiber preform. A glass spin is applied to a coated optical fiber by gripping the coated optical fiber with at least a pair of spinning applying rollers arranged in different levels with parallel rotation axes, rotating the spinning applying rollers so that the coated optical fiber is guided in a predetermined direction, and alternately shifting the spinning applying rollers in opposite directions along the rotation axes. The glass spin is applied to the coated optical fiber in a state in which each of the rotation axes is tilted at a predetermined angle from a plane perpendicular to the first direction.

摘要翻译： 将涂层施加在从光纤预制件的熔融尖端拉出的光纤上。 通过用至少一对以平行的旋转轴线布置在不同水平的纺丝施加辊上夹持涂覆的光纤，将涂覆的光纤施加到涂覆的光纤上，旋转纺丝施加辊使得涂覆的光纤以预定的 方向，并且沿着旋转轴线沿着相反方向交替地移动纺丝施加辊。 玻璃旋转以每个旋转轴线从垂直于第一方向的平面倾斜预定角度的状态施加到涂覆光纤上。

公开(公告)号：US06804441B2

公开(公告)日：2004-10-12

申请号：US10207020

申请日：2002-07-30

申请人： Shinichi Arai ,  Naoto Oyama ,  Hirofumi Saito

发明人： Shinichi Arai ,  Naoto Oyama ,  Hirofumi Saito

IPC分类号： G02B622

CPC分类号： G02B6/0365 ,  G02B6/02242 ,  G02B6/02247 ,  G02B6/02276 ,  G02B6/0286 ,  G02B6/03627 ,  G02B6/105 ,  G02F1/353 ,  G02F1/365 ,  G02F2201/02 ,  H01S3/0672 ,  H01S3/06729 ,  H01S3/06754 ,  H01S3/302

摘要： An optical fiber comprising a core and a cladding region which covers an outer periphery of the core, having a zero-dispersion wavelength in a wavelength range of 1.4 &mgr;m to 1.65 &mgr;m, and being in a single mode in that zero-dispersion wavelength, wherein GeO2 is doped in the core in a quantity such that a relative refractive index difference of the core becomes not less than 1.8%, the cladding region includes first, second, and third cladding regions, and a refractive index of the second cladding region is smaller than those of the first cladding region and the third cladding region.

摘要翻译： 一种光纤，其包括芯和覆盖所述芯的外周的包层区域，其具有在1.4μm至1.65μm的波长范围内的零色散波长，并且处于零色散波长的单一模式，其中 GeO2以芯的相对折射率差成为1.8％以上的量掺杂在芯中，包层区域包括第一，第二和第三包层区域，第二包层区域的折射率变小 比第一包层区域和第三包层区域的区域。

公开(公告)号：USRE38503E1

公开(公告)日：2004-04-20

申请号：US09945635

申请日：2001-09-05

申请人： Tamotsu Iida ,  Shinichi Arai ,  Takeshi Maeda

发明人： Tamotsu Iida ,  Shinichi Arai ,  Takeshi Maeda

IPC分类号： G11B724

CPC分类号： G11B20/1258 ,  G11B7/00745 ,  G11B7/24085 ,  G11B2020/1274 ,  G11B2220/2537

摘要： An information recording disk having a structure that a ring-shaped recording region is divided into a plurality of concentric, annular blocks, each of the blocks is divided in a circumferential direction into a plurality of equal sectors, and a recording track and a pit train for generating a header signal are previously formed in the recording region so that the recording density of a block increases as the block is nearer to the outer circumference of the recording region, in comparison with constant angular velocity type, is disclosed in which disk the recording region has a portion where blocks are pre-formatted so that the pit pitch of the header-signal generating pit train formed on the innermost recording track of the outer one of two adjacent blocks is greater than the pit pitch of the header-signal generating pit train formed on the innermost recording track of the inner block.

公开(公告)号：US6061314A

公开(公告)日：2000-05-09

申请号：US956779

申请日：1997-10-23

申请人： Shinichi Arai

发明人： Shinichi Arai

IPC分类号： G11B19/28 ,  G11B11/105 ,  G11B19/12 ,  G11B20/00 ,  G11B27/00 ,  G11B27/30 ,  G11B27/32 ,  G11B27/34 ,  G11B7/00

CPC分类号： G11B27/3027 ,  G11B19/12 ,  G11B27/005 ,  G11B27/329 ,  G11B11/10595 ,  G11B20/00007 ,  G11B2220/211 ,  G11B2220/2529 ,  G11B2220/2545 ,  G11B27/34

摘要： An optical disc device in which a reproduction speed of audio information recorded in a track (or disc) of a mini-disc (MD) etc. can be easily changed. Reproduction speed information is recorded in a track name area (or disc name area) of UTOC area of an MD etc. At the time of reproduction, the audio information is reproduced at a speed according to this reproduction speed information code. As a result, it is possible to reproduce audio information at a speed according to the reproduction speed information code, for each track (or each disc).

摘要翻译： 可以容易地改变记录在小型盘（MD）的轨道（或盘）中的音频信息的再现速度的光盘装置。 再现速度信息被记录在MD等的UTOC区域的轨道名称区域（或盘名称区域）中。在再现时，以根据该再现速度信息码的速度再现音频信息。 结果，对于每个轨道（或每个盘），可以根据再现速度信息代码以速度再现音频信息。

公开(公告)号：US4716306A

公开(公告)日：1987-12-29

申请号：US639093

申请日：1984-08-09

申请人： Naoki Sato ,  Yoshihisa Kamo ,  Yasuhiro Katoh ,  Minoru Kosuge ,  Shinichi Arai

发明人： Naoki Sato ,  Yoshihisa Kamo ,  Yasuhiro Katoh ,  Minoru Kosuge ,  Shinichi Arai

IPC分类号： G01R27/02 ,  H03K17/95 ,  H03K3/01 ,  H03K5/22 ,  H03K17/90

CPC分类号： G01R27/02 ,  H03K17/9517

摘要： A circuit for detecting the variation of resistance of a variable-resistance element comprises a pair of grounded-base transistors with their base electrodes provided with different base voltages and with their emitter electrodes connected to both terminals of the variable-resistance element so that the voltage between both terminals of the element is kept constant. The current density of the variable-resistance element does not vary when the resistance of the variable-resistance element varies, whereby the lifetime of the element can be prolonged.

摘要翻译： 用于检测可变电阻元件的电阻变化的电路包括一对接地基极晶体管，其基极具有不同的基极电压，并且其发射电极连接到可变电阻元件的两端，使得电压 在元件的两个端子之间保持恒定。 当可变电阻元件的电阻变化时，可变电阻元件的电流密度不变，从而可以延长元件的寿命。