公开(公告)号：JPH04141388A

公开(公告)日：1992-05-14

申请号：JP25915390

申请日：1990-09-28

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： MATSUMOTO KOTARO ,  KIBE SEISHIROU ,  NAGASHIMA SHIRO ,  NAKAMURA YOSHITERU

IPC: B64G7/00 ,  B25J13/08

Abstract: PURPOSE:To simulate the six-freedom behavior of an object in the gravity-free space by fitting a hexaxial force sensor to the tip side link of an articulated robot, and fitting a detector supposed to be a simulation object or a part of this object, to the tip of the hexaxial force sensor. CONSTITUTION:When external force is applied to a detector 12, a hexaxial force sensor 11 generates output by this external force. A speed-angular speed computing means 13 receives the output of the hexaxial force sensor 11 and computes the speed and angular speed of the control object point of an articulated robot 10 on the basis of this output. The computed speed and angular speed are to be those for driving the control object point of the articulated robot 10 in such a way as to realize the behavior of the detector 12 corresponding to the predicted behavior of a simulation object (virtual object), represented by the detector 12, showing the space against the external force applied to the detector 12.

公开(公告)号：JPH04141387A

公开(公告)日：1992-05-14

申请号：JP25915290

申请日：1990-09-28

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： KIBE SEISHIROU ,  MATSUMOTO KOTARO ,  NAGASHIMA SHIRO ,  NAKAMURA YOSHITERU

IPC: B25J13/08

Abstract: PURPOSE:To perform the assembling of truss structure with simple control by setting up a kinetic equation formed of a viscous term excluding an inertial term and a spring term on the basis of the force received by a hexaxial force sensor at the time of fitting truss structure assembling material provided with a fitting part, thus computing the speed of a hand to perform hand position control. CONSTITUTION:Truss structure assembling material is gripped by the hand 24 of an articulated robot 21 so as to be moved and fitted into the fitting part of the truss structure. The hand position control at this fitting time is performed by setting up a kinetic equation formed of a viscous term excluding an inertial term and a spring term in relation to the force received by a hexaxial force sensor 22 to compute the speed and to move the hand 24 at the computed speed. The operation required for position control can be thereby simplified, and high speed action can be performed.

公开(公告)号：JPH0433018A

公开(公告)日：1992-02-04

申请号：JP13450390

申请日：1990-05-24

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： YAMAMOTO HIROMICHI ,  NAKA MASAO ,  MATSUSHIMA KOICHI ,  MATSUMOTO KOTARO ,  SATO YUICHI ,  HARADA KAZUYUKI ,  KAWAI MASATO

IPC: G06F9/40 ,  G06F5/00 ,  G06F9/44 ,  G06N5/04

Abstract: PURPOSE:To attain unit conversion between data without interposing labor by totally executing the unit conversion between the data by using a physical unit table and a conversion table incorporated into a system. CONSTITUTION:An input/output data linking means 151 makes parameter names correspondent to the respective real input/output data and links the input/output data between plural element programs by linking the parameter names. On the other hand, an automatic physical unit converting means 181 automatically executes the unit conversion between the data according to the exchange relation between the respective data stored in a correspondent information enable means 131 and a relevant linked information storing means 141, the physical unit of each data stored in a physical unit system storing means 161 and the conversion formula of the physical unit system defined by a physical unit table/ conversion table 171. Thus, the physical unit conversion of the element program can be automatically executed without interposing the labor.

公开(公告)号：JPH03206522A

公开(公告)日：1991-09-09

申请号：JP33780789

申请日：1989-12-25

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： YAMAMOTO HIROMICHI ,  NAKA MASAO ,  MATSUMOTO KOTARO ,  MATSUSHIMA KOICHI ,  SATO YUICHI ,  HARADA KAZUYUKI ,  KAWAI MASATO

IPC: G06F9/06 ,  G06F9/45

Abstract: PURPOSE:To flexibly cope with the change of a program, etc., by preparing the parameter names opposite to each of actual input/output data and connecting these parameter names to each other to attain the connection among those input/output data on plural element programs. CONSTITUTION:Each processing means 111 performs its due processing based on each element program forming a copmosite program, and both input and output data obtained from this processing are stored in an input/output data store means 121. At the same time, the corresponding relation between the storing positions of the input and output data in the means 121 and the parameter name given to these data is stored in a correspondence information store means 131. When the connection is secured among input or output data of the means 111, the connection information is stored in a connection information store means 141. Thus the connection is secured among input/output data on plural element programs. Then it is possible to flexibly cope with the change of a program, etc.

公开(公告)号：JPH03196221A

公开(公告)日：1991-08-27

申请号：JP33780689

申请日：1989-12-25

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： YAMAMOTO HIROMICHI ,  NAKA MASAO ,  MATSUMOTO KOTARO ,  MATSUSHIMA KOICHI ,  HARADA KAZUYUKI ,  SATO YUICHI ,  KAWAI MASATO

IPC: G06F9/44 ,  G06F9/06

Abstract: PURPOSE:To improve the retrieving efficiency for the program execution data by retrieving the input/output data on a composite program stored in an input/ output data storing means based on the information stored in a correspondence information storing means and a coupling information storing means. CONSTITUTION:The corresponding relation secured between the storing positions of the input and output data in an input/output storing means 121 and the parameters given to the input and output data is stored in a corresponding relation storing means 131. When the input data are coupled with the output data among plural processing means 111, the corresponding coupling information is stored in a coupling information storing means 141 so as to secure the connection of the input and output data among plural element programs. A retrieving means 151 specifies the storing positions of the input and output data in the means 121 based on the storing information on both means 131 and 141 and retrieves the relevant input and output data. Thus it is possible to facilitate the retrieval of the input and output data transferred among those element programs and to improve the retrieving efficiency of data.