An objective of the present invention is to reduce the downtime which occurs when changing a servo motor device. A servo motor device includes a motor section and a reduction gear configured to output a driving force by reducing a speed of rotation of the motor section, wherein a control device includes a detecting section configured to acquire detected information about operation of the motor section, and a computing section configured to generate an approximate curve based on a behavior for a time sequence of a parameter and to calculate predicted lifetime information of the servo motor device based on the approximate curve thus generated, wherein the parameter has been calculated by means of the detected information.

The present application relates to a substrate transfer device, comprising a horizontally arranged cross beam, and support beams longitudinally arranged at two ends of the cross beam, wherein a substrate carrier is suspended on the cross beam, the substrate carrier is located between the two support beams, and the substrate carrier is parallel to a plane where the two support beams are located, the substrate carrier comprises two side walls oppositely arranged in a horizontal direction, and each of the support beams is provided with an auxiliary clamping structure for clamping the substrate carrier during transferring of the substrate carrier.

Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot (1) includes a connection frame (63) that supports a rolling actuator (13). The connection frame (63) has a first attached portion (63g) attached to a rotation outputting section (12c) of an actuator (12) and a remaining portion (a first arm portion (63b), a supporting portion (63a), and a second arm portion (63c)) connected to the first attached portion (63g). A sensor rotation portion (16a) of a rotation sensor (16) is attached to the first attached portion (63g). The first attached portion (63g) and the rotation outputting section (12c) are rotatable over an angle greater than 360 degrees in a state in which the first attached portion (63g) is attached to the rotation outputting section (12c) and in which the remaining portion of the connection frame (63) is removed from the first attached portion (63g).

A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.

According to the present invention, provided is a robot control device that can improve relatively easily the positioning accuracy of a robot. A robot control device according to one aspect of the present disclosure comprises: a position information acquisition unit which acquires position information indicating the actual position of a reference point at the end of a robot having a plurality of drive shafts; a parameter storage unit which stores a plurality of error parameters used to calculate the accurate position of the reference point from a command value for the robot; a sensitivity calculation unit which calculates a sensitivity value representing the magnitude of the change amount of the calculated position of the reference point with respect to the change amount for each error parameter; a target selection unit which selects, on the basis of the sensitivity value, an error parameter to be corrected by the parameter correction unit; and a parameter correction unit which corrects the error parameter to be corrected on the basis of the command value for the robot and the position information, assuming that error parameters other than the error parameter to be corrected do not affect the position of the reference point.

A rotation position detector includes a motor having a drive shaft extending along a first axis, a drive-side pulley that is connected to the drive shaft, a holder that holds a treatment tool to be inserted into a patient during surgery, the holder rotating in association with the drive-side pulley, a driven-side pulley that rotates around the first axis, a diameter of the drive-side pulley being smaller than a diameter of the driven-side pulley, a transmission belt that transmits a rotational drive of the drive-side pulley to the driven-side pulley, a rotary encoder that is provided on the first axis and detects a rotation angle of the driven-side pulley, and a controller that calculates a rotation position of the holder based on the rotation angle and based a pulley ratio of the drive-side pulley to the driven-side pulley, and controls the motor based on the rotation position.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

Proposed is a method for determining, by a movable robot, a position of a speaker, wherein the movable robot includes first to fourth microphones installed at four vertexes of a quadrangle of a horizontal cross section of the robot respectively, wherein the method includes: receiving a wake-up voice through first and third microphones disposed respectively at first and third vertices in a diagonal direction; obtaining a first reference value of the first microphone and a second reference value of the third microphone based on the received wake-up voice; comparing the obtained first and second reference values to select the first microphone; selecting a second microphone disposed at a second vertex, wherein the first and second microphones are on a front side of the quadrangle; calculating a sound source localization (SSL) value based on the selected first and second microphones; and tracking a position of the speaker based on the SSL value.

A clutch mechanism includes a spool that is configured to receive a cable, a disk with elasticity, a mechanism configured for locking and unlocking the movement of the disk, and at least one sensor. The at least one sensor being configured to measure the movement of at least one of the disk and the spool in the unlocked mode and to measure the movement of the spool relative to the disk when in a locked mode.

A robot task system includes: a robot; a transfer device configured to be driven to transfer a plurality of workpieces thereon by a specific distance at a time, the plurality of workpieces being placed within the specific distance; a driving management unit configured to manage a driving distance and a driving start timing of the transfer device for driving the transfer device each time; a task position generation unit configured to generate a plurality of task positions at the driving start timing managed by the driving management unit, the plurality of task positions being positions for the robot to execute a predetermined task on the plurality of workpieces; a task unit configured to update, according to the driving of the transfer device, the plurality of task positions generated by the task position generation unit and generate a task command to cause the robot to execute the predetermined task on the plurality of workpieces while following the plurality of workpieces; and a control unit configured to control the transfer device based on the driving distance and the driving start timing of the transfer device, and control the robot based on the task command generated by the task unit.