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F-Term-List

B25J1/00-21/02 AS AS00
USE [FW] 		AS01 AS02 AS03 AS04 AS05 AS06 AS07 AS08 AS09
. Conveyance, transfer, article supply, and taking out . . Palletize, depalletize . . Storing takeoff to the store . . Takeoff from a large number of work . . Machine tool, delivery to the processor . Assembling . . Fit . . Electricity, electronic parts . Micro body operation (example cell processing)
AS11 AS12 AS13 AS14 AS15
. Welding, blowout . Manufacturing (example abrasion, cutting) . The painting, ceiling . Inspection, check, the measurement . Cleaning
AS21 AS22 AS23 AS24 AS25 AS26 AS27 AS28 AS29 AS30
. For engineering works, buildings . The agriculture and forestry marine products industry (example fruit collection) . It is for car production . It is for the semiconductor, disk production . Clean room use . High place construction use (example electric wire construction use) . For nuclear reactors and for steam generators . Underwater use . For space and is for aviation . High temperature, low temperature environmental business
AS31 AS32 AS33 AS34 AS35 AS36 AS38
. High pressure, vacuum environment use . Disaster use (example fire extinguishing, fire prevention, or disaster relief) . Special gas atmosphere use . For services (AS38 for examination) . Medical use (AS38 for examination) . Entertainment use . Having the assist function (XK is classified, too)
BS BS00
KIND, TYPE OF MANIPULATOR 		BS01 BS02 BS03 BS04 BS05 BS06 BS07 BS09 BS10
. Arm series sequence . . 2 joint rectangular coordinates type . . 3 joint rectangular coordinates type . . . Frame type . . . Gantry type . . Cylinder coordinate type . . Polar coordinates type . . Joint type . . . Vertically multi-joint type
BS11 BS12 BS13 BS14 BS15 BS17 BS18 BS19 BS20
. . . . This place covers the subject matter with 5 flexibilities . . . . This place covers the subject matter with 6 flexibilities . . . . This place covers the subject matter with 7 flexibilities . . . . This place covers the subject matter with more than 8 flexibilities . . . Horizontally multi-joint type . Snake type . . This place covers the subject matter with the joint linking . . This place covers the subject matter with each joint moving independently . . This place covers the subject matter bending with multi-flexibility
BS21 BS22 BS23 BS24 BS26 BS27 BS28 BS29 BS30
. Arm parallel sequence . . Parallel link . . . Frog leg type . . Parallel link type . Double arms type manipulator . . Human being type manipulator . Parent and child type . In manual manipulator (XF is classified, too) . In manual manipulator (XG is classified, too)
BT BT00
TYPE OF THE WRIST 		BT01 BT02 BT03 BT04 BT05 BT06 BT07 BT08 BT09 BT10
. Wrist axis . . Biaxial wrist . . . This place covers the subject matter having the rotation with the 2 axis . . . This place covers the subject matter having the turn with the 2 axis . . . This place covers the subject matter having the turn and the rotary axis . . 3 axis wrists . . . This place covers the subject matter having the rotation with the 3 axis . . . This place covers the subject matter having biaxial rotation, and 1 axis turn . . . This place covers the subject matter having 1axis rotation, and biaxial turn . . This place covers the subject matter having the drag turning prevention mechanism
BT11 BT12 BT13 BT14 BT15 BT16 BT18 BT19 BT20
. . This place covers the subject matter keeping the fixed direction of the hand . This place covers the subject matter moving the hand part . . This place covers the subject matter moving it in the direction and the right angle direction of the hand . . This place covers the subject matter which let the hand make the advance or retreat . This place covers the subject matter revolving in multi-flexibility . . This place covers the subject matter with the linkwork . Floating mechanism . . This place covers the subject matter having the locking mechanism . . This place covers the subject matter which returns to the predetermined position automatically
CS CS00
BASE 		CS01 CS02 CS03 CS04 CS05 CS06 CS07 CS08 CS09 CS10
. This place covers the subject matter which runs along the orbit . . Curve orbit . . Closed passage . . Orbit on the floor . . Elevated orbit . . . This place covers the subject matter placing the manipulator on the wide side . . This place covers the subject matter having the divergence means . This place covers the subject matter moving without orbit (WA,WK is classified, too) . This place covers the subject matter incorporating the transport (excluding the run drive mechanism) . Fixed means (locking mechanism, outrigger, etc.)
CT CT00
COLUMN 		CT01 CT02 CT03 CT04 CT05 CT07
. Operation form of the column is characteristic . . Straight line motion in the horizontal plane . . . Being able to move to both X, Y axis directions . . This place covers the subject matter which expands and contracts in the top and bottom direction . . This place covers the subject matter which turns in the vertical axis circumference . This place covers the subject matter which is characteristic in the structure of the column
CU CU00
ARM 		CU01 CU02 CU03 CU04 CU05 CU06 CU07 CU08 CU09
. This place covers the subject matter characterized by the material forming the arm . This place covers the subject matter of which the arm expands and contracts . . Telescope type . Arms are the parallel link type of the series sequence . This place covers the subject matter having the drive source in the arm . This place covers the subject matter having the light path, the fluid road in the arm . This place covers the subject matter having the flexibility and the bendability . This place covers the subject matter having the lightweight high-stiffness . This place covers the subject matter which can change the arm ( including the modular type)
CV CV00
MOVEMENT FORM OF THE FIRST ARM 		CV01 CV02 CV03 CV04 CV05 CV06 CV07 CV08 CV09 CV10
. First arm performs the linear motion . . This place covers the subject matter which expands and contracts . . This place covers the subject matter which makes the advance or retreat . . Horizontal translation . . Translation up and down . This place covers the subject matter of which the first arm does the revolving . . Revolving only in the horizontal plane . . Revolving only in the perpendicular plane . . Revolving in many flexibilities . . This place covers the subject matter which turns in the central axis circumference of the arm
CW CW00
MOVEMENT FORM OF THE SECOND ARM 		CW01 CW02 CW03 CW04 CW05 CW06 CW07 CW08 CW09 CW10
. This place covers the subject matter of which the second arm performs the linear motion . . This place covers the subject matter which expands and contracts . . This place covers the subject matter which makes the advance or retreat . . Horizontal translation . . Translation in the top and bottom direction . This place covers the subject matter of which the second arm does the revolving . . Revolving only in the horizontal plane . . Revolving only in the perpendicular plane . . Revolving in many flexibilities . . This place covers the subject matter which turns in the central axis circumference of the arm
CW11
. . Having the second joint axis at right angles to the first joint axis
CX CX00
JOINT 		CX01 CX03 CX05 CX07 CX09
. This place covers the subject matter having the drive source in the joint part . This place covers the subject matter which incorporates the slowdown machine in the joint part . This place covers the subject matter which establishes the locking mechanism in the joint part . This place covers the subject matter which arranges the clutch to joint . This place covers the subject matter having the stopper to joint
CY CY00
PURPOSE [FW] OF THE MAIN BODY MECHANISM 		CY01 CY02 CY03 CY04 CY05 CY06 CY07 CY09 CY10
. Energy supply . . This place covers the subject matter having the characteristic in the wiring of the joint part . . . This place covers the subject matter which let the cable penetrate in the axis . . . This place covers the subject matter having the turn connection means . . Letting the cable comply with the main body outside and locating it . . Putting the cable through the link inside and wiring it . . This place covers the subject matter which isolates it from the main body and supports the cable . . This place covers the subject matter having the part which wound up the cable in the spiral . . Having the part which tucked in the cable into U character form
CY12 CY13 CY15 CY16 CY17 CY18 CY19 CY20
. . Feeding (including the electrical signal) . . Fluid supply . This place covers the subject matter having the positioning mechanism . . ON - OFF switch . . This place covers the subject matter performing as the contact-stopper . Devices such as the straight line movement mechanism rail, slider, etc. . . This place covers the subject matter which prevents the gutter of the run body, the gap . . . Heteromorphic prevention of the run body, rail and the coping
CY21 CY22 CY23 CY24 CY25 CY26 CY27 CY28 CY29 CY30
. Load equilibrium mechanism . . This place covers the subject matter which establishes the balance weight . . This place covers the subject matter with the spring . . This place covers the subject matter by the fluid pressure . Waterproofing, drip-proof . Explosion proof . Protection against dust . . This place covers the subject matter which pressurizes the body . . This place covers the subject matter which establishes the cover . Soundproofing, sound control
CY31 CY32 CY33 CY34 CY35 CY36 CY37 CY39 CY40
. Protection against vibration . Buffering . Insulation, prevention of short circuit . Heat radiation, cooling . Lubrication . Downsizing (detailed statement specification) . Conservatism improvement (detailed statement specification) . Expansion of the operation range of the arm (detailed statement mention) . Improvement of the agility, and rapidity (detailed statement mention)
DS DS00
WHOLE CONSTITUTION OF THE HOLDING DEVICE 		DS01 DS02 DS03 DS05 DS06 DS07 DS08 DS10
. Single holding device or the adsorption device . . Having plural holding parts . . . This place covers the subject matter having the holding part and the adsorption part . Plural holding devices or the adsorption device . . Linear array type . . Plane matrix placement . . Turret type . This place covers the subject matter of which the holding device, sequence of holding part are variable
ES ES00
FORM OF THE SIMPLE HOLDING DEVICE 		ES01 ES02 ES03 ES04 ES05 ES06 ES07 ES08 ES09 ES10
. This place covers the subject matter having the finger material . . One . . Two . . Three . . Four . . More than five . . Multi-joint type . . . Having the independent drive source to each joint . . . Each joint links . . This place covers the subject matter of which the finger material is flexible generally
ES11 ES12 ES13 ES15 ES17 ES19
. Overhang type . . Inside overhang type . . Outside overhang type . Collet chucks . This place covers the subject matter mounting . This place covers the subject matter which pierces and maintains it
ET ET00
OPERATION FORM OF THE FINGER MATERIAL 		ET01 ET02 ET03 ET04 ET05 ET08 ET09 ET10
. Shaking type . . One spindle . . Spindle more than two . . Intersection type . . Translation type (subject matter with the parallelism linkwork) . Straight line sliding type . . Side clamp . Extratensive
EU EU00
OPENING AND CLOSING MECHANISM OF THE FINGER MATERIAL 		EU01 EU02 EU03 EU04 EU05 EU06 EU07 EU08 EU09
. Screw type . Gear type . . Bevel gear type . . Rack pinion type . . This place covers the subject matter which let the worm gear intervene . . This place covers the subject matter having the differential mechanism (planetary gears, etc.) . Link type . Cam type . . Positive motion type
EU11 EU12 EU13 EU14 EU16 EU17 EU18 EU19 EU20
. Bendability transmission material . Spring energizing . . Opening direction energizing . . Closing direction energizing force . Connected with the both piston side cylinder side finger materials . Connected directly with the drive source . This place covers the subject matter having the exclusive drive source for one finger material . . This place covers the subject matter of which each finger material goes along and works . This place covers the subject matter which can move without each finger material going along in the same drive source
EV EV00
ABUTTING PART OF THE HOLDING DEVICE 		EV01 EV02 EV03 EV04 EV05 EV06 EV07 EV08 EV09 EV10
. Shape of the abutting part not to transform . . Plane contact . . V type . . Curved surface contact . . Undersurface abutting . . Tong . . Engagement (irregularity engagement, flange engagement, etc.) . . This place covers the subject matter having the roller . . Screw . . Measures for frictional force increase
EV11 EV12 EV13 EV14 EV15 EV16 EV17 EV18 EV19 EV20
. Abutting part to transform . . Use of the fluid pressure . . Use of the spring . . Elastic film (open space, closed space, and filling space are existing) . . Use of the brush . . Plural projections . Angle of the abutting part is variable . . Shaking . . Tilting . Floating lock of the abutting part
EV21 EV22 EV23 EV24 EV25 EV26 EV27 EV28 EV30
. This place covers the subject matter having the additional function . . This place covers the subject matter having the heterologous abutting part . . This place covers the subject matter having the supporting abutting material separately . . Abutting part of plural groups in twin holding parts . . Being engaged by the weight of the article in the holding direction . . This place covers the subject matter which can move to the long distance axis direction of the finger material . . This place covers the subject matter turning with the holding the article . . This place covers the subject matter letting the article and the abutting surface make the linear motion relatively . Non-contact type (floating holding, etc.)
EW EW00
PURPOSE OF HOLDING DEVICE [FW] 		EW01 EW03 EW04 EW07 EW08 EW09
. Different-diameter article holding . Holding when the position of the article deviated from the opening and closing center . . This place covers the subject matter letting the holding part imitate the article . This place covers the subject matter having the opening and closing lock means . . Using the dead point crossing over (toggle mechanism, etc.) . . Ratchet use
EW11 EW12 EW14 EW16 EW18 EW20
. Adjustment of the quantity of opening and closing . Adjustment of the opening and closing speed . Compactness (detailed statement specification) . Protection against dust, raising dust measure . Heat-proof, heat resistance (including cooling) . Vibration, shock measures
FS FS00
FORM OF THE ADSORPTION DEVICE SIMPLE SUBSTANCE 		FS01 FS02 FS03 FS04 FS06 FS07 FS08 FS09 FS10
. Vacuum adsorption . . This place covers the subject matter which do not have the vacuum source . . Ejector . . Bernoulli chuck . Magnetic force adsorption . . Electromagnet . . Permanent magnet . . Residual magnetism removal . Electrostatic adsorption
FT FT00
STRUCTURE OF THE ADSORPTION PART 		FT01 FT02 FT03 FT04 FT06 FT07 FT08 FT10
. Abutting part . . Suction cup . . . This place covers the subject matter having the characteristic to the materials . . . This place covers the subject matter having the characteristic in the structure . . This place covers the subject matter installing the elastic material part in the abutting part (excluding the suction cup) . . . This place covers the subject matter having the characteristic to the materials . . . This place covers the subject matter having the characteristic by the structure . . This place covers the subject matter of which the abutting part having the characteristic in materials, structure with the inelastic material
FT11 FT12 FT13 FT15 FT16 FT17 FT18
. . This place covers the subject matter having the multiple adsorption spots . . . Concentric . . . Matrix placement . This place covers the subject matter floating . . This place covers the subject matter with the flexible material . . Spring . . multi-flexibility coupling
FU FU00
PURPOSE OF THE ADSORPTION DEVICE [FW] 		FU01 FU02 FU03 FU04 FU05 FU06 FU08 FU09 FU10
. Adsorption of the single article or the predetermined quantity article . This place covers the subject matter having the pressing material of the article separately . Control of the vacuum pressure . . This place covers the subject matter having the vacuum pressure measuring instrument . . This place covers the subject matter having the characteristic for the constitution of the valve, mechanism . . . With the opening and closing valve in the adsorption nozzle . Protection against the dust measures (filter equipment, etc.) . Heat-proof, heat resistance . Vibration, shock measures
GS GS00
HOLDING DEVICE EXCHANGE 		GS01 GS02 GS03 GS04 GS05 GS06
. Joining means . . Ball type . . Holding click type . . Plug type (screw, pin, stake, etc.) . . Twist type, screw together type . . Magnetic force type
GS11 GS12 GS13 GS15 GS16 GS17 GS19
. Feeding, joint for fluid supply . This place covers the subject matter having the positioning pin separately . This place covers the subject matter having the exchange end detection means . Hand storage . . This place covers the subject matter having the means of transportation (conveyers) . . Having the holding device to pull out the joining facilities . Control for the hand exchange
GU GU00
ARTICLE SECESSION MEANS 		GU01 GU03 GU04 GU06
. Spring energizing . Air supply . . Use of the accumulator . Fluid cylinder
HS HS00
DRIVE SOURCE [FW] 		HS01 HS02 HS03 HS04 HS06 HS07 HS08 HS09 HS10
. Direct driven type . . Shrinkage type . Shaking type . Rotary type . Mechanothermal actuator (shape-memory alloy) . Mechanochemical actuator . Human power . Battery . Electrostatic type
HS11 HS12 HS13 HS14 HS15 HS16 HS17 HS18 HS19 HS20
. Fluid type . . Cylinder . . . Liquid . . . Gas . . Shaking motor . . . Liquid . . . Gas . . Rotary motor . . . Liquid . . . Gas
HS21 HS23 HS24 HS25 HS26 HS27 HS28 HS29 HS30
. . Artificial muscle . Electric type . . Solenoid . . . Rotary solenoid . . . Linear motor . . Motor . . . DD motor . . Piezoelectric device . . . Ultrasonic motor
HT HT00
TRANSMISSION (HOLDING DEVICE IS EXCLUDED) [FW] 		HT01 HT02 HT03 HT04 HT06 HT07 HT08 HT09
. Flexible material . . Belt . . Chain . . Rope, wire . . This place covers the subject matter linking and performing the plural movements at the same time . . This place covers the subject matter coordinating the tension . . This place covers the subject matter connected with the rod . . This place covers the subject matter with the edge
HT11 HT12 HT13 HT15 HT16 HT17 HT19 HT20
. Link . . Parallel link . . This place covers the subject matter losing the dead point (dead center) . Rotary shaft . . Multiplex coax . . Spline axis . Screw movement . . Ball screw
HT21 HT22 HT23 HT24 HT25 HT26 HT27 HT28 HT29 HT30
. Gear . . Rack pinion . . Worm gear . . Bevel gear . . Planetary gear . . . Harmony slowdown machine . . . Cyclo-speed reducer . . . RV slowdown machine . . . Ball slowdown machine . . This place covers the subject matter having the differential mechanism
HT31 HT33 HT34 HT35 HT36 HT37 HT38 HT39 HT40
. . Backlash prevention . Cam mechanism . Magnetism-binding mechanism . Elastic connection mechanism . . Spring . Friction power train . Fluid transmission mechanism . This place covers the subject matter having the clutch . This place covers the subject matter having the brakes
JS JS00
CONCRETE CONSTITUTION OF THE CONTROL UNIT [SUBJECT MATTER CHARACTERIZED] 		JS01 JS02 JS03 JS05 JS06 JS07
. Constitution of the whole system including panels . . This place covers the subject matter of which the other robots are related to the peripheral device . . . Network correspondence . Placement in the control circuit, connection . This place covers the subject matter characterized for the placement relations with the mechanism part . Communication, the method and handling of data communications
JT JT00
CONTROL LEVER 		JT01 JT02 JT03 JT04 JT05 JT06 JT07 JT08 JT09 JT10
. It is connected to the subordinate part mechanically . . This place covers the subject matter with the wire . . This place covers the subject matter including the parallelogram structure . This place covers the subject matter connected to the subordinate part electrically . . This place covers the subject matter having the reaction force perception function . . This place covers the subject matter which can change the correspondence with the main part and the subordinate part . . This place covers the subject matter having the setting function elsewhere . . This place covers the subject matter attaching it to the manipulator oneself . . This place covers the subject matter assuming the manipulator in itself the control lever . . This place covers the subject matter just realizing the movement of the person
JU JU00
INSTRUCTION DEVICE, CONTROL PANEL 		JU01 JU02 JU03 JU07 JU08 JU09
. Constitution of the control panel . . Feature is to the human interface part . . . Characteristic display unit (as for other indication KT) . Instruction aid . . This place covers the subject matter attaching to the hand . . This place covers the subject matter establishing it in the work top, the workshop
JU11 JU12 JU13 JU14 JU15 JU16 JU17
. Type of the control panel . . Remote control from the directly invisible place . . This place covers the subject matter which can operate at plural points . . Transportable control panel . . Fixed type control panel . . Operation device which was established in the manipulator itself . . This place covers the subject matter using the operation device together with the instruction device
KS KS00
TARGET FOR THE DETECTION [FW] 		KS01 KS02 KS03 KS04 KS05 KS06 KS07 KS08 KS09 KS10
. State of the work object . . Speed, acceleration . . Position . . Posture, angle, or direction . . Gap from the predetermined state . . Characteristic measurement of the specific part (centers of gravity) . . Shape . . Kind . . Size, weight . Work environment (example atmosphere temperature)
KS11 KS12 KS13 KS15 KS16 KS17 KS18 KS19 KS20
. . Position, state of the worker . . Position, state of the obstacle . . Position, state of the other robots, machine . State of the manipulator . . Position . . . Tip position . . . Position of the base . . . The origin . . Posture, angle, and direction
KS21 KS22 KS23 KS24 KS25 KS26 KS27 KS28 KS29 KS30
. . . Joint angle . . Speed . . . Acceleration . . . Angular velocity, angular acceleration . . . Speed of the tip . . . Speed of the base . . Internal state (abrasion, quantity of battery, etc.) . . . Load, load (motor load) . . . State, kind of the end effector . . . . Holding state (holding confirmation, etc.)
KS31 KS32 KS33 KS34 KS35 KS36 KS37 KS38 KS39 KS40
. Contact . Sliding . Power . . Pressing force, reaction force . . Torque . Distance, approach . Voltage, electric current . Time . Sound . Disturbance
KT KT00
SIGHT DEVICE, IMAGING APPARATUS [FW] 		KT01 KT02 KT03 KT04 KT05 KT06 KT07 KT09
. This place covers the subject matter having one camera . This place covers the subject matter having a plurality of cameras . . This place covers the subject matter doing the stereopsis, and using the parallax . Placement or installation of the camera . . This place covers the subject matter which made for the arm or the hand . . This place covers the subject matter established any place other than the manipulator . This place covers the subject matter using the optical fiber . Coordinate alignment (calibration)
KT11 KT12 KT15 KT16 KT17 KT18
. Image recognition method, image recognition means . . Light-section method . Image display . . Chronological order indication . . Displaying the manipulator mainly . . Indication of the work
KV KV00
METHOD OF THE SENSOR [FW] 		KV01 KV04 KV05 KV06 KV08 KV09 KV10
. Pulse encoder (example rotary type, linear type) . Electricity-type (example capacitance) (KV01 is given priority) . . Switch (example limit switch) . . Strain gauge, pressure-sensitive resistance . Magnetism type, electromagnetic type (example eddy current) (KV01 is given priority) . Electric wave type (example GPS) . Rotary transformer method
KV11 KV12 KV13 KV15 KV16 KV18 KV20
. Photoelectric type (KV01 is given priority) . . This place covers the subject matter by the rays interception between the projecting and receiving light devices . . This place covers the subject matter using the optical fiber . Fluid type (example pressure detection in the sealed bag) . . Air micro meter type . Sound type (example supersonic wave type) . Mechanical (example dial gauge)
KW KW00
CHARACTERIZED BY THE SENSOR [FW] 		KW01 KW02 KW03 KW04 KW05 KW06 KW07
. Contact sensor . Sliding sensor . Power sensor . . Holding force sensor . . Torque sensor . Position sensor . Rotation angle sensor
KX KX00
PLACEMENT OF THE SENSOR [FW] 		KX01 KX02 KX03 KX05 KX06 KX07 KX08 KX09 KX10
. This place covers the subject matter established in the orbit . This place covers the subject matter established in the base . This place covers the subject matter established in the column . This place covers the subject matter made for the hand . . This place covers the subject matter arranged on the wrist . . This place covers the subject matter being arranged to the hand . . . This place covers the subject matter arranged to the finger, adsorption pad . . This place covers the subject matter located to surround the arm or the hand . . This place covers the subject matter arranged to the joint (wrist, arm)
KX11 KX12 KX13 KX15 KX17 KX19
. This place covers the subject matter arranged to the leg . . This place covers the subject matter arranged to the foot (part former than ankle) . . This place covers the subject matter arranged to the joint . This place covers the subject matter arranged to the transmission gear . This place covers the subject matter located to the control lever (sensor about the operation is excluded) . This place covers the subject matter located any place other than the manipulator
LS LS00
INSTRUCTION (PROGRAMING) [FW] 		LS01 LS02 LS03 LS04 LS05 LS06 LS08 LS09 LS10
. Direct instruction (on-line teaching) . . Instruction by manpower . . . Lightly moving of the manipulator at the time of the instruction . . This place covers the subject matter moving it by the control panel and instructing it . . Instruction using the imaging device . . Special instruction method (example light, sound) . Indirect instruction (off-line teaching) . . Instruction using the image (CAD, etc.) . . This place covers the subject matter instructing each point
LS11 LS13 LS14 LS15 LS16 LS17 LS19 LS20
. . This place covers the subject matter instructing any place other than the position . Instruction using the simulated manipulator . Correction of the program (example positioning point correction) . Automatic making of the course and the aim position . . This place covers the subject matter by the coordinate transformation of the basic course . . . Making of the symmetry course . Confirmation driving . Simulation
LT LT00
POSITIONING [FW] 		LT01 LT02 LT03 LT04 LT06 LT07 LT08
. Interpolation, course control . . This place covers the subject matter by the pulse distribution . . Interpolation by the special pattern . . . Weaving interpolation . Positioning using the outside world measurement sensor . Imitating control . Follow-up control
LT11 LT12 LT13 LT14 LT15 LT17 LT18
. Revision of the position . . This place covers the subject matter corresponding to the position gap of the work object . . This place covers the subject matter compensated for inertia, weight, temperature, etc. . . This place covers the subject matter by the internal state (example production error) . . Revision by the manual setting . Calibrating the origin positioning, coordinate . Positioning to the work origin (including the reopening point)
LU LU00
SPEED, POWER, AND HYBRID CONTROL 		LU01 LU02 LU03 LU04 LU05 LU06 LU07 LU08 LU09 LU10
. Speed control . . Acceleration control . . Acceleration, control of the slowdown . . This place covers the subject matter using the speed pattern . . Revision of the speed . Force control (the holding force is LV10)) . . Control of the torque . . Control of the imposition power . This place covers the subject matter having the hybrid control that there are multiple control parameters . . This place covers the subject matter changing the control parameter
LV LV00
OTHER VARIOUS CONTROL [FW] 		LV01 LV02 LV03 LV04 LV05 LV06 LV07 LV08 LV09 LV10
. Cooperation control . . Cooperation between manipulators . Control of the end effector . . Positioning . . Posture control . . Control of holding . . . Decision of the holding position . . . This place covers the subject matter judging the stability of holding . . . This place covers the subject matter performing the holding by the plural number stages . . . Control of the holding force
LV11 LV12 LV13 LV14 LV15 LV17 LV18 LV19 LV20
. Progress of the program . . Condition for the start of the movement or the progress . . Interruption, reopening of the program . . Decision of the operation plan . . Switching of operating conditions . Control of the fit . Compensation such as gravity, temperature, etc. (the position revision is LT13) . Coordinate transformation method, coordinate operation method . Advance preparation (example initialization)
LV21 LV22 LV23 LV24
. Control peculiar to the motor . Control peculiar to fluid drive . Servo control . . This place covers the subject matter performing the gain adjustment
LW LW00
CONCRETE CONTROL METHOD [FW] 		LW01 LW02 LW03 LW04 LW05 LW07 LW08 LW09
. This place covers the subject matter using the feed forward . This place covers the subject matter using the compensating element . This place covers the subject matter using the past data . This place covers the subject matter using the observer . . Disturbance observer . PID control . Optimization control . Pulse control
LW11 LW12 LW13 LW14 LW15
. Artificial intelligence . Learning control . Genetic algorithm . Fuzzy . Neural network
MS MS00
SAFE [FW] 		MS01 MS02 MS03 MS05 MS06 MS07 MS08 MS09 MS10
. This place covers the subject matter corresponding to the overload . . Mechanical measures . . Electrical measures . This place covers the subject matter corresponding to the interference, collision . . Foreign substance approach detection in the dangerous domain (operation domain) . . This place covers the subject matter performing the contact detection or approaching detection . . Prediction of the interference, collision . . . Modeling of movement domains . . Limit of the movement domain
MS11 MS12 MS14 MS15 MS16
. Mechanism, structural coping (excluding MS02) . . Fixed means, brakes . Measures after the outbreak of abnormal, danger (excluding MS12) . Inspection, monitoring, maintenance . Correspondence to erroneous operation
MS21 MS22 MS23 MS24 MS25 MS27 MS28 MS29 MS30
. This place covers the subject matter corresponding to the abnormality of manipulator . . Movement limit detection, movement range limit . . Detection of the sudden change of the order level and the estrangement with the real value . . Abnormality of the operation source . . . At the time of the blackout . Security for the person . . Warning . Security in the instruction, and operation . Security for the work object
MT MT00
CONTROL PURPOSE (OTHER THAN DETAILED STATEMENT SPECIFICATION, SECURITY) [FW] 		MT01 MT02 MT03 MT04 MT05 MT06 MT07 MT08 MT09 MT10
. Facilitation of operation . Speedup of control, movement . Simplification of structure . Improvement of precision, accuracy . Prevention of vibration, stability . Automation, systematization . Expansion of movement, work range . Correspondence to plural patterns, change . . Correspondence to state of work . . . Correspondence to several kinds of work
MT11 MT12 MT13 MT14 MT15 MT16
. Application to specific use . Environmental measures (ecology) . Energy saving . Entertainment-related improvement . Opening, net correspondence . Durable improvement
NS NS00
STATE OF WORK 		NS01 NS02 NS03 NS05 NS06 NS07 NS08 NS09 NS10
. This place covers the subject matter of which the work object moves . . This place covers the subject matter with the conveyer . . This place covers the subject matter with the stand doing turn, shaking . Shape [FW] . . Prismatic body . . Column body . . Globe . . Board-formed body, disk . . Sheet (film, paper, etc.)
NS11 NS12 NS13 NS14 NS15 NS17 NS19
. Kind [FW] . . Board . . . Semiconductor wafer . . . Magnetic disk, Laser Disk . . . Printed circuit board, wiring board . . Electronic parts . . Container, cardboard box
NS21 NS22 NS24 NS26 NS28 NS29
. . Glass (board is NS12) . . Lens . . Fastener . . Food . . Packing product . . Textile
WA WA00
THE TYPE THAT IS A SELF-RUN TYPE OR AN AUTONOMY TYPE 		WA01 WA02 WA03 WA04 WA05
. Form of the biotype robot [FW] . . Animal type . . . Human being type . . . Dog, cat type . . . Insect type
WA11 WA12 WA13 WA14 WA15 WA16 WA17 WA18 WA19 WA20
. Movement form . . Leg type . . . Two legs . . . Four legs . . . Six legs . . Wheel type . . Crawler . . Moving with the body (example inchworm type) . . This place covers the subject matter having the adsorption material . . Orbit
WA21 WA22 WA23 WA24 WA25 WA26 WA27 WA28
. Special environmental movement . . Stairs, slope . . Wall rising and falling . . Movement on the non-leveling ground . . Inside and outside of the duct line . . Space movement . . Underwater movement . . Movement in the building (building, house, etc.)
WK WK00
CONTROL OF THE WALK 		WK01 WK02 WK03 WK04 WK05 WK06 WK07 WK08
. Static walk . The subject matter having the characteristic which is for the walk state switching (example change of direction) . This place covers the subject matter of which the walk pattern is decided beforehand . Characteristic generation of the gait, the walk pattern . Control of the upper part slant of body , the posture . This place covers the subject matter considering ZMP . Paying the attention to the joint corner, joint torque and controlling it . Paying the attention to the specific position (centers of gravity, etc.) and controlling it
WL WL00
ACTION CONTROL OF THE AUTONOMY TYPE (INCLUDING FEELINGS) [FW] 		WL01 WL02 WL03 WL04 WL05 WL06 WL07 WL08 WL09 WL10
. This place covers the subject matter using the probability . This place covers the subject matter using the history . This place covers the subject matter using the inside information . This place covers the subject matter using the outside information . . State (expression, action, etc.) of the person . . Instructions from the person . . . Voice inputting . . State of other robots, instructions . . This place covers the subject matter using the information of the obstacle, the work object . This place covers the subject matter using the model (pattern)
WL11 WL12 WL13 WL14 WL15 WL16
. . This place covers the subject matter characterized for the transitional way . Particularly characterized by the control of feelings . Control of the action based on feelings . Characterized by the way itself of the action . . The feature is for the concrete emotional display method . . . Expression generation
WM WM00
OTHER CHARACTERISTICS, CONSTITUTION OF THE SELF-RUN, AUTONOMY TYPE [FW] 		WM01 WM03 WM04 WM06 WM07 WM09 WM10
. This place covers the subject matter growing up . This place covers the subject matter connecting PCs to the external equipment . This place covers the subject matter having the simulation function . Characteristic communications tool to the person . . This place covers the subject matter talking . Characteristic return from the abnormal state . . Return from the fall state
WM11 WM12 WM13 WM14 WM15 WM16 WM18 WM19 WM20
. Characteristic usage . . Game . . This place covers the subject matter healing it . . Academic use . . With the additional function (example telephone and FAX) . . Monitoring, the guard . Characteristic of the constitution of accessories . . Accessories (example full-body suit) . . Stand, station
WM21 WM22 WM23 WM24 WM25 WM26 WM27 WM29 WM30
. Characteristic constitution of the main body of robot . . Leg . . . Ankle, foot sole . . . Ankle . . Head, face, and neck . . Body . . Waist . . Constitution to give the biologic characteristic . . . Utterance
XF XF00
CONSTITUTION, PURPOSE OF MANUAL MANIPULATOR 		XF01 XF02 XF03 XF05 XF06 XF07 XF09
. This place covers the subject matter having the joint . This place covers the subject matter being flexible . This place covers the subject matter having the installation device to the support . Tool hand . Holding hand . Saucer hand . This place covers the subject matter having the drive mechanism
XG XG00
CONCRETE CONSTITUTION, PURPOSE OF THE MANIPULATOR. 		XG01 XG02 XG03 XG04 XG05 XG06 XG08
. This place covers the subject matter having the characteristic in the drive source . This place covers the subject matter having the run mechanism . Characterized by base . This place covers the subject matter having the characteristic to the arm . Characterized by hand . Characterized by function part . This place covers the subject matter handling by non-contact for work
XJ XJ00
CONSTITUTION, PURPOSE OF THE GLOVE BOX 		XJ01 XJ03 XJ05
. Characterized by the structure of the box . Characterized by the glove . Characterized by scavenging, and sealing air
XK XK00
CHARACTERISTIC ABOUT THE ASSIST FUNCTION 		XK01 XK02 XK03 XK05 XK06 XK07 XK08 XK09
. Which is targeted for the assist [FW] . . Physically unimpaired person . . Physically-disabled person, weakling (AS35 is examined, too) . Form of setting, use . . Attaching at least one part to the body for the assist . . Assisting the object is holding with at least one part . . Fixing at least one part to the building, base, etc. . . Hanging and having the structure
XK11 XK12 XK13 XK14 XK15 XK16 XK17 XK18 XK19 XK20
. Body site which is targeted for the assist [FW] . . Lower part of the body (the waist is not including) . . . Knee . . . Ankle . . . Crotch . . Upper body (including the waist) . . . Shoulder, elbow . . . Wrist . . . Joint of the hand and the finger . . This place covers the subject matter for whole bodies
XK21 XK22 XK23 XK24 XK25 XK27 XK28
. In movement to assist [FW] (AS is examined, too) . . On-site work such as factories . . Assembling, installation . . Lifting, carrying around . . . Lifting, help such as in care . . Walk, run . . Long-time posture holding
XK32 XK33 XK35 XK36 XK37
. . Meal . . Getting up, initial rise . . Rehabilitation . . . This place covers the subject matter which undergoes the rehabilitation for the specific posture (additional cord ABCM) . . . Practice of such as the special procedure and process (PNF method, etc.)
XK41 XK42 XK43 XK45 XK46 XK47 XK49 XK50
. Contents of the assist [FW] . . Reduction of the load . . . Load by the self weight for the assist . . Generation of the movement, assistance to maintenance . . . Maintenance of the balance . . . Assistance to the movement rhythm . . Improvement of the movement precision . . . Reduction of the influence of quiver (thrill, etc.)
XK51 XK52 XK53 XK54 XK55 XK56 XK58 XK59 XK60
. Input which the control system uses (KS is examined, too) [FW] . . Interaction that it is targeted for the assist . . Interaction with the outside (including the work) . . Grounding of the sole . . Quantity of state of the joint for the assist (additional cord NPQZ) . . . Joint angle for the assist . . Living body signal [FW] . . . Line telegraphic communication . . . Brain, neurologic signal (EEG,fMRI, etc.)
XK61 XK62 XK63 XK64 XK66 XK67 XK68 XK69
. Individual problem and characteristic (CY is examined, too) [FW] . . Conformity to the assist object . . . Mechanical, mechanic coping, the device in the design . . . Electrical coping . . Improvement of the operability (MT01 is examined, too) . . . Mechanical, mechanic coping, the device in the design . . . Electrical coping . . . Device of the user interface
XK72 XK73 XK74 XK75 XK76 XK78 XK79 XK80
. . Burden reduction for the assist (as for the operation burden, less than XK66) . . . Facilitation for putting on and taking off . . . Discomfort reduction at the time of the wearing, improvement of the feeling of wearing . . . Mechanical, mechanic coping, the device in the design . . . Electrical coping . . Circumstantial improvement (waterproofing, etc.) . . In energy saving (MT13 is examined, too) . . Improvement of the weight balance
XK82 XK84 XK85 XK86 XK88 XK89 XK90
. . Characteristic in the control (as for the concrete content JT, LT - LW, MT, WK, etc.) . . Machine element, characteristic in the mechanism [FW] . . . Power train (the concrete contents is classified with HT) . . . Actuator (the concrete contents is classified with HS) . . Security (MS is examined, too) . . . Security for the assist (not to classify to MS27, 28) . . . Security of the outskirts environment ( as for the collision, less than MS05 is examined, too)
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