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公开(公告)号：JPH09146708A
公开(公告)日：1997-06-06
申请号：JP29080195
申请日：1995-11-09
Applicant: IBM
Inventor： FURUHATA TOMOTAKE , HIRANO TOSHIKI , SAWADA CHIHIRO
Abstract: PROBLEM TO BE SOLVED: To obtain a driving method and a touch input method for the touch panel which make it easy to recognize a double touch on the touch panel by tapping different positions with a 1st and a 2nd depressing means and judging whether or not the double tapping is done at a desired position. SOLUTION: The index fingers 34 is pressed against the inside of the frame of an icon 36 and the position where the index finger 34 is placed is outputted from the touch panel 32 (a). Then while the index finger 34 is depressed against the icon 36 on the touch panel 32, another position on the touch panel 32 is tapped with the middle finger 40. The touch panel 32 outputs the position indicated with the tip of the arrow 42 in a figure, i.e., a position nearby the mid-point on the line connecting the index finger 34 and middle finger 40 (b). When the index finger 34 is placed only on the icon 36 on the touch panel 32, the touch panel 32 outputs the position where the index finger 34 is placed as shown with the tip of an arrow 44, so that the double tapping is recognized (c).
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公开(公告)号：JPH06309011A
公开(公告)日：1994-11-04
申请号：JP8179393
申请日：1993-04-08
Applicant: IBM
Inventor： SAWADA CHIHIRO , TAKADA MASAYUKI , TERAWAKI SHINKICHI , OBATA MASATOSHI
Abstract: PURPOSE: To program operation software for a production cell which enables the smooth introduction of the production cell of the FA system and easy maintenance of the production cell and is rich in flexibility. CONSTITUTION: One production cell controller 17 controls a robot, DI/DO equipment, and an operation panel in the production cell. On the controller 17, the production cell operation software 31, a production cell operation language processing system 32, and a production cell control driver 33 for real-time control run. The production cell operation language processing system 32 interprets the production cell operation software 31 and sends commands to the production cell control driver 33.
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Patent Agency Ranking
公开(公告)号：JPH01234183A
公开(公告)日：1989-09-19
申请号：JP5957488
申请日：1988-03-15
Applicant: IBM
Inventor： ISHIKAWA HIROSHI , SAWADA CHIHIRO
Abstract: PURPOSE: To provide designated compliance by finding a position displaced by external force, calculating a locus of a position of a joint coordinate system by inverse kinematics from this, finding loci of a speed and acceleration by differentiating this, and controlling position by these loci. CONSTITUTION: A parameter on compliance and quantity on a balance of the compliance are designated. A positional orbit Prc of a control object to satisfy this equation is generated by solving a quadratic equation of motion of the control object in a world coordinate system containing this designated parameter, quantity on a balance of the compliance and quantity on detected force. The positional orbit Prc of the control object is converted into a positional orbit (qrc) of the control object in this proper coordinate system. A position of the control object is controlled to follow these orbits (q'rc, q"rc) and the positional orbit (qrc) by generating the orbit (q'rc) of a speed and the orbit (q"rc) of acceleration of the control object from this converted orbit (qrc).
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公开(公告)号：DE69613656D1
公开(公告)日：2001-08-09
申请号：DE69613656
申请日：1996-10-28
Applicant: IBM
Inventor： FURUHATA TOMOTAKE , HIRANO TOSHIKI , SAWADA CHIHIRO
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公开(公告)号：DE69613656T2
公开(公告)日：2002-05-29
申请号：DE69613656
申请日：1996-10-28
Applicant: IBM
Inventor： FURUHATA TOMOTAKE , HIRANO TOSHIKI , SAWADA CHIHIRO
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公开(公告)号：CA1325465C
公开(公告)日：1993-12-21
申请号：CA592551
申请日：1989-03-02
Applicant: IBM
Inventor： ISHIKAWA HIROSHI , SAWADA CHIHIRO
Abstract: METHOD FOR COMPLIANCE CONTROL In a method of effecting compliance control over an object subjected to a force, such as in the case of a servo-operated robot manipulator device, parameters are established for compliance and values set for balance of compliance. Positions taken up by the object in response to a detected external force are determined by integrating an equation of motion. Trajectory is calculated in a joint coordinate system with universe kinematics; and from this, velocity and acceleration are obtained. Using this method allows compliance to be specified in any desired Cartesian coordinate system in a form of second-order perturbation including not only stiffness but also damping.
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公开(公告)号：DE68900553D1
公开(公告)日：1992-01-30
申请号：DE68900553
申请日：1989-03-01
Applicant: IBM
Inventor： ISHIKAWA HIROSHI , SAWADA CHIHIRO
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