2 results about "Translational velocity" patented technology

This invention provides an ultrasonic bonding apparatus that reduces the probability of slippage between chips and workpieces, and between workpieces, thereby improving the quality of bonding. [Solution] The excitation operation of the ultrasonic composite element is controlled according to an amplitude instruction Qcmd that maintains the amplitude Q at an initial amplitude Qint = 0th designated amplitude Q0, while the translational operation of the ultrasonic bonding tip is controlled so that the translational speed V decreases while maintaining the translational speed V at the ith designated speed Vi (0≦i≦n) from the 0th designated speed V0 to the nth designated speed Vn (n=1). The excitation operation of the ultrasonic composite element is controlled according to an amplitude instruction Qcmd that maintains the amplitude Q at an initial amplitude Qint = 0th designated amplitude Q0, while the translational operation of the ultrasonic bonding tip is controlled so that the translational speed V increases while maintaining the translational speed V at the jth designated speed Vi (n≦i≦m) from the nth designated speed Vn to the mth designated speed Vm (m=2) as the final speed Pend.

This control device controls the driving of a two-wheel inverted robot comprising a pair of wheels, a wheel motor that outputs torque for rotating the wheels to an axle, a body which is attached to the pair of wheels and can swing around the axle, and a placement part on which a load is placed. The control device comprises a load disturbance compensation unit that calculates and outputs a compensated pitch angle command value obtained by compensating gravity-dependent variation on the basis of a dynamic model, the compensated pitch angle command value being calculated on the basis of: a pitch angle command value for controlling the behavior of pitch angle, which is the angle between the vertical axis of the body and the vertical direction, so as to maintain an inverted orientation of the two-wheel inverted robot; information about the load weight applied to the placement part by the load; and the translational velocity of the wheels obtained by first-order differentiation of wheel position, calculated from a detection value of wheel angle, with respect to time. As a result, provided is a control device that does not require tuning for control for stabilizing orientation when placing a load.