A measurement system includes a plurality of reflectors of a robot, a measurement apparatus having a laser head which emits a laser beam toward the reflectors and which receives a reflected light from the reflectors, a head driving device which changes orientation of the laser head, and a robot control apparatus which controls the robot based on the calibration operation program and which sequentially places the distal end portion of the robot at a plurality of measurement positions for conducting calibration. The robot control apparatus conducts a head drive control process of receiving controller coordinate data of any one of the plurality of reflectors, which is used at the time of sequentially placing the distal end portion of the robot at plurality of measurement positions, and sending a control signal for changing the orientation of the laser head to the head driving device by using the received controller coordinate data.

A measurement system includes a plurality of reflectors of a robot, a measurement apparatus having a laser head which emits a laser beam toward the reflectors and which receives a reflected light from the reflectors, a head driving device which changes orientation of the laser head, and a robot control apparatus which controls the robot based on the calibration operation program and which sequentially places the distal end portion of the robot at a plurality of measurement positions for conducting calibration. The robot control apparatus conducts a head drive control process of receiving controller coordinate data of any one of the plurality of reflectors, which is used at the time of sequentially placing the distal end portion of the robot at plurality of measurement positions, and sending a control signal for changing the orientation of the laser head to the head driving device by using the received controller coordinate data.

A method and a device are used to generate a control command. A resolution base value and a resolution-tick corresponding function are created. A first operation frequency value, a minimal tick value and a resolution value are received to calculate a resolution ratio and a second operation frequency. A conversional tick value is calculated. If or not the conversional tick value is greater than or equal to the minimal tick value is determined. If the conversion tick value is smaller than the minimal tick value, the minimal tick value, the conversional tick value and the second operation frequency are used to calculate a conversional operation frequency. A conversional resolution ratio is calculated according to the first operation frequency and the conversional operation frequency, and also a modified tick value is calculated. The control command is output according to the modified tick value, the first operation frequency and the conversion operation frequency.

A method and a device are used to generate a control command. A resolution base value and a resolution-tick corresponding function are created. A first operation frequency value, a minimal tick value and a resolution value are received to calculate a resolution ratio and a second operation frequency. A conversional tick value is calculated. If or not the conversional tick value is greater than or equal to the minimal tick value is determined. If the conversion tick value is smaller than the minimal tick value, the minimal tick value, the conversional tick value and the second operation frequency are used to calculate a conversional operation frequency. A conversional resolution ratio is calculated according to the first operation frequency and the conversional operation frequency, and also a modified tick value is calculated. The control command is output according to the modified tick value, the first operation frequency and the conversion operation frequency.

A motor driving apparatus includes an amplifier receiving, from a detector, a sine wave shaped signal detected in response to rotation of a motor, and amplifying the signal with a set amplification factor, an A/D converter for performing digital conversion by sampling the signal amplified by the amplifier at a sampling timing in a predetermined cycle, an amplification factor setting part for changing setting of the amplification factor of the amplifier, and an amplification factor set timing command part for issuing a command with respect to a timing for changing the setting of the amplification factor by the amplification factor setting part. The amplification factor set timing command part issues the command with respect to the timing so that a waveform stabilizing period until distortion in a waveform of the signal occurring when the amplification factor setting part changes the setting is stabilized does not overlap with the sampling timing.

A motor driving apparatus includes an amplifier receiving, from a detector, a sine wave shaped signal detected in response to rotation of a motor, and amplifying the signal with a set amplification factor, an A/D converter for performing digital conversion by sampling the signal amplified by the amplifier at a sampling timing in a predetermined cycle, an amplification factor setting part for changing setting of the amplification factor of the amplifier, and an amplification factor set timing command part for issuing a command with respect to a timing for changing the setting of the amplification factor by the amplification factor setting part. The amplification factor set timing command part issues the command with respect to the timing so that a waveform stabilizing period until distortion in a waveform of the signal occurring when the amplification factor setting part changes the setting is stabilized does not overlap with the sampling timing.

To provide a motor driving apparatus capable of obtaining high detection resolution irrespective of whether a frequency of a signal from a detector is high or low. A motor driving apparatus for driving a motor includes an amplifier circuit for receiving a signal from a detector for outputting information including a position and a speed of the motor as the signal, and amplifying the received signal with a set amplification factor, a frequency detecting part for detecting a frequency of the signal, and an amplification factor setting part for changing setting of the amplification factor of the amplifier circuit according to the frequency detected by the frequency detecting part.

To provide a motor driving apparatus capable of obtaining high detection resolution irrespective of whether a frequency of a signal from a detector is high or low. A motor driving apparatus for driving a motor includes an amplifier circuit for receiving a signal from a detector for outputting information including a position and a speed of the motor as the signal, and amplifying the received signal with a set amplification factor, a frequency detecting part for detecting a frequency of the signal, and an amplification factor setting part for changing setting of the amplification factor of the amplifier circuit according to the frequency detected by the frequency detecting part.

An automated method for discovering features in a repeatable process includes measuring raw time series data during the process using sensors. The time series data describes multiple parameters of the process. The method includes receiving, via a first controller, the time series data from the sensors, and stochastically generating candidate features from the raw time series data using a logic block or blocks of the first controller. The candidate features are predictive of a quality of a work piece manufactured via the repeatable process. The method also includes determining, via a genetic or evolutionary programming module, which generated candidate features are most predictive of the quality of the work piece, and executing a control action with respect to the repeatable process via a second controller using the most predictive candidate features. A system includes the controllers, the programming module, and the sensors.

An automated method for discovering features in a repeatable process includes measuring raw time series data during the process using sensors. The time series data describes multiple parameters of the process. The method includes receiving, via a first controller, the time series data from the sensors, and stochastically generating candidate features from the raw time series data using a logic block or blocks of the first controller. The candidate features are predictive of a quality of a work piece manufactured via the repeatable process. The method also includes determining, via a genetic or evolutionary programming module, which generated candidate features are most predictive of the quality of the work piece, and executing a control action with respect to the repeatable process via a second controller using the most predictive candidate features. A system includes the controllers, the programming module, and the sensors.