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1. 发明授权

US4791588A Movable apparatus driving system 失效
标题翻译：移动式设备驱动系统
公开(公告)号：US4791588A
公开(公告)日：1988-12-13
申请号：US78008
申请日：1987-07-24
申请人： Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
发明人： Nobuhiko Onda , Kazuo Asakawa , Tadashi Akita , Hitoshi Komoriya , Toru Kamada
IPC分类号： G05B19/42 , B25J9/18 , G05B19/423 , G05B13/00
CPC分类号： G05B19/423 , G05B2219/36429 , G05B2219/40087 , G05B2219/42092
摘要： A movable apparatus drive system comprises a driving device for the movable apparatus, a first output device for detecting environmental information around the movable apparatus and for outputting a corresponding signal in response to the environmental information data, a second output device for outputting a command signal to drive the driving device so as to move the movable apparatus to a target position, based on target position data of the movable apparatus to be moved and current position data of the movable apparatus; and a supply device for supplying a composite signal constituted by the environmental information data and the command signal.Moreover, a robot control system comprises a control device for controlling the motion of a robot in response to a command signal to the robot; a spring mechanism provided at a working point of the robot for detecting a deflection (displacement ) caused by an external force applied to the robot; and a feedback means for feeding back a deflection feedback value obtained by multiplying detected output of the spring meachnisum by a predetermined gain. The control device controls the motion of the robot in response to the addition of a position command generated from the control means and the deflection feedback value.
摘要翻译：可移动装置驱动系统包括可移动装置的驱动装置，用于检测可移动装置周围的环境信息并响应于环境信息数据输出相应信号的第一输出装置，用于输出命令信号的第二输出装置驱动驱动装置，以便基于要移动的可移动装置的目标位置数据和可移动装置的当前位置数据将可移动装置移动到目标位置; 以及用于提供由环境信息数据和命令信号构成的复合信号的供给装置。此外，机器人控制系统包括：控制装置，用于响应于对机器人的命令信号来控制机器人的运动; 设置在机器人的工作点处的弹簧机构，用于检测由施加到机器人的外力引起的偏转（位移）; 以及反馈装置，用于反馈通过将检测到的弹簧锤的输出乘以预定增益而获得的偏转反馈值。控制装置响应于从控制装置产生的位置指令和偏转反馈值的相加而控制机器人的运动。

2. 发明授权

US4488242A Robot arm control method using open loop control in combination with closed loop control 失效
标题翻译：机器人手臂控制方法采用开环控制结合闭环控制
公开(公告)号：US4488242A
公开(公告)日：1984-12-11
申请号：US333056
申请日：1981-12-21
申请人： Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
发明人： Fumio Tabata , Kazuo Asakawa , Hitoshi Komoriya
IPC分类号： B25J9/16 , B25J13/00 , G05B19/18 , G05B19/39 , G05B19/4103 , G06F15/46 , G05B19/22
CPC分类号： G05B19/39 , G05B2219/45187
摘要： A method for controlling the locus of an arm of an arm type robot or the like, wherein a control system which drives a first arm of a two-joint arm under open-loop control and a second arm under feedback control is provided. A bang-bang drive system is used for positioning the first arm in a minimum time. The position of the tip of the second arm can be detected either from the rotational angle of each arm or by means of a position recognizing device. Furthermore, an arm positioning method for rapidly bringing the tip of a multi-joint arm to a desired position while detecting the positions of its tip and its joints by simple calculations is disclosed.
摘要翻译：一种用于控制臂式机器人等的臂的轨迹的方法，其中提供了一种控制系统，该控制系统在开环控制下驱动双关节臂的第一臂和在反馈控制下的第二臂。一个爆炸驱动系统用于在最短的时间内定位第一臂。可以从每个臂的旋转角度或通过位置识别装置检测第二臂的尖端的位置。此外，公开了一种用于通过简单计算来检测多个关节臂的尖端到期望位置同时检测其尖端及其关节的位置的臂定位方法。

3. 发明授权

US08296512B2 Recording method for a disk device having recording regions different in recording density 有权
标题翻译：具有记录密度不同的记录区域的盘装置的记录方法
公开(公告)号：US08296512B2
公开(公告)日：2012-10-23
申请号：US12360601
申请日：2009-01-27
申请人： Toru Yokohata , Hitoshi Komoriya , Takayuki Kawabe
发明人： Toru Yokohata , Hitoshi Komoriya , Takayuki Kawabe
IPC分类号： G06F12/00
CPC分类号： G11B5/012 , G11B5/09 , G11B5/5521 , G11B20/10 , G11B20/10527 , G11B20/1217 , G11B2020/1062 , G11B2020/10685 , G11B2020/10916 , G11B2020/1238 , G11B2020/1295 , G11B2220/2516
摘要： A recording method for a disk device includes the following steps. Sequential data is written into the medium along the track in a predetermined radial direction. Information indicating an end position along the track where the end of the sequential data is written into is stored. The information is read when additional sequential data is to be written into the medium. The additional data is written from a position along the track next to the end position indicated by the information in the predetermined radial direction. The information is updated so as to indicate an end position along the track where the end of the additional sequential data is written into.
摘要翻译：盘装置的记录方法包括以下步骤。顺序数据沿着轨道在预定的径向上被写入到介质中。存储指示顺序数据的结束被写入轨道的结束位置的信息。当附加顺序数据写入介质时，读取信息。附加数据从沿着预定径向的信息所指示的结束位置旁边的轨道的位置写入。信息被更新，以指示沿着附加顺序数据的结尾被写入的轨道的结束位置。

4. 发明授权

US07115328B2 Master disk for transferring magnetic pattern and magnetic recording medium 失效
公开(公告)号：US07115328B2
公开(公告)日：2006-10-03
申请号：US10126109
申请日：2002-04-19
申请人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
发明人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
IPC分类号： G11B5/86
CPC分类号： G11B5/865 , G11B5/82 , G11B23/0035
摘要： The present invention provides a master disk that can easily be brought into contact with and separated from a magnetic recording medium, and can accommodate foreign matters. This master disk transfers a predetermined magnetic pattern onto a magnetic recording medium that can record magnetic information. In the master disk, there are a magnetic pattern formation region in which the magnetic pattern is formed, and a blank region in which the magnetic pattern is not formed. A concave portion for accommodating foreign matters is formed in at least one part of the blank region.

5. 发明申请

US20050248866A1 Magnetic pattern transferring method for performing magnetic pattern transfer while correcting a magneticallly different part 审中-公开
标题翻译：用于在校正磁性不同部分的同时进行磁图案转印的磁图形转印方法
公开(公告)号：US20050248866A1
公开(公告)日：2005-11-10
申请号：US11178682
申请日：2005-07-11
申请人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
发明人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
IPC分类号： G11B5/00 , G11B5/012 , G11B5/82 , G11B5/86
CPC分类号： B82Y10/00 , G11B5/012 , G11B5/743 , G11B5/82 , G11B5/865 , G11B2005/001
摘要： A magnetic-pattern transferring method is a method for transferring a magnetic pattern to a magnetic recording medium. The method comprises steps as follows. In a master transferring step, a magnetic field is applied to a master placed close to the magnetic recording medium. The magnetic field excites a magnetic layer having a pattern patterned on the master according to the magnetic pattern. Thereby, the pattern of the magnetic layer is transferred to the magnetic recording medium. In a pattern-difference measuring step, a magnetic condition of the magnetic recording medium is measured so as to measure a magnetically different part between the pattern transferred to the magnetic recording medium and the magnetic pattern. In a magnetic transferring step, a pattern transfer is performed to the magnetic recording medium by using the master while applying the magnetic field so as to correct a magnetic condition of the magnetically different part.
摘要翻译：磁图案转印方法是将磁图案转印到磁记录介质的方法。该方法包括以下步骤。在主转印步骤中，将磁场施加到靠近磁记录介质放置的母版。磁场根据磁图案激发具有图案化图案的图案的磁性层。由此，磁性层的图案被转印到磁记录介质。在图案差分测量步骤中，测量磁记录介质的磁状态，以测量转印到磁记录介质的图案与磁图案之间的磁性不同部分。在磁转移步骤中，通过在施加磁场的同时使用母版对磁记录介质执行图案转印，以便校正磁不同部分的磁条件。

6. 发明授权

US06950254B2 Magnetic transfer apparatus for establishing magnetic pattern on magnetic disk 失效
标题翻译：用于在磁盘上建立磁性图案的磁转移装置
公开(公告)号：US06950254B2
公开(公告)日：2005-09-27
申请号：US10633758
申请日：2003-08-04
申请人： Hiroyuki Suzuki , Hitoshi Komoriya , Yutaka Nakamura , Takao Hirahara
发明人： Hiroyuki Suzuki , Hitoshi Komoriya , Yutaka Nakamura , Takao Hirahara
IPC分类号： G11B5/012 , G11B5/596 , G11B5/86
CPC分类号： G11B5/865 , G11B5/012 , G11B5/59633
摘要： A magnetic transfer apparatus is utilized to establish magnetization on the surface of a magnetic disk. A support mechanism supports the magnetic disk in the magnetic transfer apparatus. A magnetizing mechanism is designed to get opposed to the magnetic disk held by the support mechanism. The magnetizing mechanism applies a magnetic field of variable intensity in response to a change of position in the radial direction of the magnetic disk. The magnetic transfer apparatus enables establishment of a magnetic field of an appropriate intensity at any positions in the radial direction of the magnetic disk. Magnetization of a constant intensity can be established over the surface of the magnetic disk irrespective of a position in the radial direction of the magnetic disk. The magnetic transfer apparatus alone serves to establish a servo pattern of a clear magnetization on the magnetic disk.
摘要翻译：利用磁转移装置在磁盘的表面上形成磁化。支撑机构支撑磁性传送装置中的磁盘。磁化机构被设计为与由支撑机构保持的磁盘相对。磁化机构响应于磁盘径向位置的变化而施加可变强度的磁场。磁转移装置能够在磁盘的径向的任意位置建立适当强度的磁场。可以在磁盘的表面上建立恒定强度的磁化，而不管磁盘的径向方向如何。单独的磁转移装置用于在磁盘上建立清晰磁化的伺服模式。

7. 发明申请

US20050185311A1 Magnetic pattern transfer method 失效
标题翻译：磁图转移法
公开(公告)号：US20050185311A1
公开(公告)日：2005-08-25
申请号：US11113137
申请日：2005-04-25
申请人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara , Arata Ejiri
发明人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara , Arata Ejiri
IPC分类号： G11B5/82 , G11B5/86
CPC分类号： G11B5/865 , G11B5/825 , G11B5/86
摘要： A magnetic pattern transfer method is disclosed. A magnetic pattern transfer master having a plurality of magnetic portions preformed with predetermined magnetic patterns is brought in proximity to a magnetic recording medium having a magnetic film to record the magnetic information, and a magnetic field is applied from an external source thereby to transfer the magnetic patterns to the magnetic recording medium. In order to improve the closeness between the magnetic film of the magnetic recording medium and the magnetic portions of the magnetic pattern transfer master, the magnetic patterns are transferred to the magnetic film of the magnetic recording medium during the process of fabricating the magnetic recording medium. Also, using a magnetic pattern transfer master with the width of each pattern groove of the magnetic patterns smaller than the width of a corresponding pattern protrusion, the relative position of the magnetic pattern transfer master is displaced, while at the same time transferring the magnetic patterns to the magnetic film of the magnetic recording medium a plurality of times.
摘要翻译：公开了磁图案转印方法。将具有预定磁性图案预先形成的多个磁性部分的磁性图案转印母版带到具有磁性薄膜的磁记录介质附近以记录磁信息，并且从外部源施加磁场，从而转移磁图案到磁记录介质。为了提高磁记录介质的磁性膜与磁性图案转印母版的磁性部分之间的接近度，在制造磁记录介质的过程中将磁图案转印到磁记录介质的磁膜上。此外，使用具有小于相应图案突起的宽度的磁图案的每个图案槽的宽度的磁性图案转印母版，磁图案转印母版的相对位置被移位，同时转印磁图案磁记录介质的磁性膜多次。

8. 发明申请

US20090190251A1 DATA RECORDING METHOD 有权
标题翻译：数据记录方法
公开(公告)号：US20090190251A1
公开(公告)日：2009-07-30
申请号：US12360601
申请日：2009-01-27
申请人： Toru Yokohata , Hitoshi Komoriya , Takayuki Kawabe
发明人： Toru Yokohata , Hitoshi Komoriya , Takayuki Kawabe
IPC分类号： G11B5/55
CPC分类号： G11B5/012 , G11B5/09 , G11B5/5521 , G11B20/10 , G11B20/10527 , G11B20/1217 , G11B2020/1062 , G11B2020/10685 , G11B2020/10916 , G11B2020/1238 , G11B2020/1295 , G11B2220/2516
摘要： A recording method for a disk device includes the following steps. Sequential data is written into the medium along the track in a predetermined radial direction. Information indicating an end position along the track where the end of the sequential data is written into is stored. The information is read when additional sequential data is to be written into the medium. The additional data is written from a position along the track next to the end position indicated by the information in the predetermined radial direction. The information is updated so as to indicate an end position along the track where the end of the additional sequential data is written into.
摘要翻译：盘装置的记录方法包括以下步骤。顺序数据沿着轨道在预定的径向上被写入到介质中。存储指示顺序数据的结束被写入轨道的结束位置的信息。当附加顺序数据写入介质时，读取信息。附加数据从沿着预定径向的信息所指示的结束位置旁边的轨道的位置写入。信息被更新，以指示沿着附加顺序数据的结尾被写入的轨道的结束位置。

9. 发明授权

US06977785B2 Magnetic pattern transferring method for performing a magnetic pattern transfer while correcting a magnetically different part 失效
标题翻译：用于在校正磁性不同部分的同时进行磁图案转印的磁图形转印方法
公开(公告)号：US06977785B2
公开(公告)日：2005-12-20
申请号：US10107688
申请日：2002-03-27
申请人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
发明人： Yutaka Nakamura , Hitoshi Komoriya , Hiroyuki Suzuki , Takao Hirahara
IPC分类号： G11B5/00 , G11B5/012 , G11B5/82 , G11B5/86
CPC分类号： B82Y10/00 , G11B5/012 , G11B5/743 , G11B5/82 , G11B5/865 , G11B2005/001
摘要： A magnetic-pattern transferring method is a method for transferring a magnetic pattern to a magnetic recording medium. The method comprises steps as follows. In a master transferring step, a magnetic field is applied to a master placed close to the magnetic recording medium. The magnetic field excites a magnetic layer having a pattern patterned on the master according to the magnetic pattern. Thereby, the pattern of the magnetic layer is transferred to the magnetic recording medium. In a pattern-difference measuring step, a magnetic condition of the magnetic recording medium is measured so as to measure a magnetically different part between the pattern transferred to the magnetic recording medium and the magnetic pattern. In a magnetic transferring step, a pattern transfer is performed to the magnetic recording medium by using the master while applying the magnetic field so as to correct a magnetic condition of the magnetically different part.
摘要翻译：磁图案转印方法是将磁图案转印到磁记录介质的方法。该方法包括以下步骤。在主转印步骤中，将磁场施加到靠近磁记录介质放置的母版。磁场根据磁图案激发具有图案化图案的图案的磁性层。由此，磁性层的图案被转印到磁记录介质。在图案差分测量步骤中，测量磁记录介质的磁状态，以测量转印到磁记录介质的图案与磁图案之间的磁性不同部分。在磁转移步骤中，通过在施加磁场的同时使用母版对磁记录介质执行图案转印，以便校正磁不同部分的磁条件。

10. 发明申请

US20080266692A1 MAGNETIC DISK DEVICE AND DATA WRITING METHOD THEREOF 审中-公开
标题翻译：磁盘设备及其数据写入方法
公开(公告)号：US20080266692A1
公开(公告)日：2008-10-30
申请号：US12110177
申请日：2008-04-25
申请人： Hitoshi Komoriya , Michinaga Yamagishi , Toru Yokohata
发明人： Hitoshi Komoriya , Michinaga Yamagishi , Toru Yokohata
IPC分类号： G11B5/02 , G11B27/36 , G11B21/02
CPC分类号： G11B19/045 , G11B5/59655 , G11B5/59688 , G11B20/1217 , G11B20/182 , G11B2020/1232 , G11B2020/1281 , G11B2020/1298 , G11B2220/2516
摘要： A data writing method to write data on a disk in a disk device. The data is written in one radial direction. The method includes detecting a first deviation amount from a center in a current track and sector in the direction of a track on which data was previously written. A second deviation amount from the center in the current track and sector in the direction of a track on which data will be subsequently written is also detected. Data is written on the current track when the first deviation amount is equal to or smaller than a first threshold and the second deviation amount is equal to or smaller than a second threshold.
摘要翻译：一种在磁盘设备中的磁盘上写入数据的数据写入方法。数据以一个径向写入。该方法包括从先前写入数据的轨道的方向上检测当前轨迹中的中心和扇区的第一偏移量。还检测到当前轨道中的中心和在其后将写入数据的轨道的方向上的扇区的第二偏移量。当第一偏差量等于或小于第一阈值并且第二偏移量等于或小于第二阈值时，将数据写入当前轨迹。

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