1. An apparatus comprising:
a circular and curved rod having a hooked portion disposed within a body portion; and
a bead stop coupled to the body portion,
wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole, said bead stop to force said at least one bead off said rod.
2. The apparatus of claim 1, further comprising a handle coupled to the body portion.
3. The apparatus of claim 1, further including at least one gear coupled to a rack and a trigger, the trigger adapted to rotate the at least one gear.
4. The apparatus of claim 3, further comprising:
a switch coupled to a power supply, and
a motor coupled to the at least one gear, wherein the motor is adapted to rotate the at least one gear.
5. The apparatus of claim 1, further comprising one of a light-emitting device, a sound producing device, and a light emitting device and a sound-emitting device.
6. The apparatus of claim 1, further comprising:
a housing, and
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads, wherein the lid is one of slidably removable and rotatably removable.
7. The apparatus of claim 6, wherein the storage compartment is removably coupled to the housing.
8. The apparatus of claim 1, further including a quick bead-loading device adapted to hold a plurality of beads in place.
9. The apparatus of claim 1, wherein the rod is stationary and the bead stop is moveable.
10. The apparatus of claim 1, wherein the bead stop is stationary and the rod is moveable.
11. The apparatus of claim 1, wherein the rod and the bead stop are both moveable.
12. An apparatus comprising:
a circular rod having a hooked portion disposed within a body portion;
a handle coupled to the body portion;
at least one gear coupled to a motor, the motor adapted to rotate the at least one gear; and
a switch coupled to a power supply and said motor, said power supply and said motor disposed within said handle, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole when said at least one bead is forced off said rod via a bead stop.
13. The apparatus of claim 12, further comprising one of a light-emitting device, a sound producing device, and a light emitting device and a sound-emitting device.
14. The apparatus of claim 12, further comprising:
a housing, and
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads, wherein the lid is one of slidably removable and rotatably removable.
15. The apparatus of claim 14, wherein the storage compartment is removably coupled to the housing.
16. The apparatus of claim 12, further including a quick bead-loading device adapted to hold a plurality of beads in place.
17. The apparatus of claim 12, wherein the rod is stationary and the bead stop is moveable.
18. The apparatus of claim 12, wherein the bead stop is stationary and the rod is moveable.
19. The apparatus of claim 12, wherein the rod and the bead stop are both moveable.
20. An apparatus comprising:
a rod having an end portion and a hooked portion, the end portion and the hooked portion being at opposite ends of the rod;
a support coupled to the rod, the support including a plurality of rod guides, and
a spring coupled to the rod, the rod having a bent portion to keep the spring in place between the bent portion and one of the plurality of rod guides, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole, and one of the plurality of rod guides is a bead stop adapted to force said at least one bead off said rod.
21. The apparatus of claim 20, further including a trigger coupled to the spring, wherein the trigger is adapted to compress the spring to move the rod.
22. The apparatus of claim 21, further including a trigger link coupled to the trigger and the rod.
23. The apparatus of claim 21, further including at least one gear coupled to a rack and the trigger, the trigger adapted to rotate the at least one gear.
24. The apparatus of claim 23, further comprising:
a switch coupled to a power supply and a motor, and
at least one gear coupled to the motor, wherein the motor is adapted to rotate the at least one gear.
25. An apparatus comprising:
a rod having an end portion and a hooked portion, the end portion and the hooked portion being at opposite ends of the rod;
a support coupled to the rod, the support including a plurality of rod guides;
a cylinder surrounding the rod; and
one of a light-emitting device, a sound producing device, and a light emitting device and a sound-emitting device, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole, and the rod is slidable within the cylinder.
26. The apparatus of claim 25, further including a pistol handle coupled to the cylinder.
27. The apparatus of claim 26, further including a rod cover coupled to one end of the cylinder, wherein the rod cover is one of transparent and translucent.
28. An apparatus comprising:
a rod having an end portion and a hooked portion, the end portion and the hooked portion being at opposite ends of the rod;
a support coupled to the rod, the support including a plurality of rod guides;
a cylinder surrounding the rod, wherein the rod is slidable within the cylinder;
a housing; and
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads,
wherein the lid is one of slidably removable and rotatably removable, and said hooked portion adapted to string filamentous material through at least one bead having a thru-hole.
29. The apparatus of claim 28, wherein the storage compartment is removably coupled to the housing.
30. The apparatus of claim 28, further including a quick bead-loading device adapted to hold a plurality of beads in place.
31. An apparatus comprising:
a rod having an end portion, a hooked portion and a circular portion, the end portion and the hooked portion being at opposite ends of the rod;
a hook support coupled to the rod, the support including a plurality of rod guides,
a tab coupled to the rod, the tab adapted to rotate the rod through a bead stop;
a spring coupled to the rod, the rod having a bent portion to keep the spring in place between the bent portion and one of the plurality of rod guides, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole.
32. The apparatus of claim 31, further including a trigger coupled to the spring, wherein the trigger is adapted to compress the spring to move the rod.
33. The apparatus of claim 32, further including a trigger link coupled to the trigger and the rod.
34. The apparatus of claim 32, further including at least one gear coupled to a rack and the trigger, the trigger adapted to rotate the at least one gear.
35. The apparatus of claim 34, further comprising:
a switch coupled to a power supply, and
a motor coupled to the at least one gear, wherein the motor is adapted to rotate the at least one gear to move the rod.
36. An apparatus comprising:
a rod having an end portion, a hooked portion and a circular portion, the end portion and the hooked portion being at opposite ends of the rod;
a hook support coupled to the rod, the support including a plurality of rod guides;
a tab coupled to the rod, the tab adapted to rotate the rod through a bead stop; and
one of a light-emitting device, a sound producing device, and a light emitting device and a sound-emitting device, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole.
37. The apparatus of claim 36, further including a quick bead-loading device adapted to hold a plurality of beads in place.
38. An apparatus comprising:
a rod having an end portion, a hooked portion and a circular portion, the end portion and the hooked portion being at opposite ends of the rod;
a hook support coupled to the rod, the support including a plurality of rod guides;
a tab coupled to the rod, the tab adapted to rotate the rod through a bead stop;
a housing; and
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads, wherein the lid is one of slidably removable and rotatably removable.
39. The apparatus of claim 38, wherein the storage compartment is removably coupled to the housing.
40. The apparatus of claim 38, further including a quick bead-loading device adapted to hold a plurality of beads in place.
41. An apparatus comprising:
a rod having an end portion and a hooked portion, the end portion and the hooked portion being at opposite ends of the rod, the rod slidably coupled to a cylinder;
a housing coupled to the cylinder, the housing including a plurality of axles disposed within said housing,
a plurality of gears coupled to a trigger;
a gear rack coupled to the cylinder; and
one of a light-emitting device, a sound producing device, and a light emitting device and a sound-emitting device, wherein said hooked portion adapted to string filamentous material through at least one bead having a thru-hole, and said hooked portion adapted to string filamentous material through at least one bead having a thru-hole.
42. The apparatus of claim 41, wherein the housing includes a handle.
43. The apparatus of claim 42, wherein the handle has a pistol grip.
44. The apparatus of claim 41, further including a spring coupled to the rod.
45. The apparatus of claim 41, further comprising:
a switch coupled to a power supply, and
a motor coupled to the plurality of gears, wherein the motor is adapted to rotate the plurality of gears.
46. The apparatus of claim 41, further comprising:
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads, wherein the lid is one of slidably removable and rotatably removable.
47. The apparatus of claim 46, wherein the storage compartment is removably coupled to the housing.
48. The apparatus of claim 41, further including a quick bead-loading device adapted to hold a plurality of beads in place.
49. An apparatus comprising:
a rod having an end portion and a hooked portion, the end portion and the hooked portion being at opposite ends of the rod, the rod slidably coupled to a cylinder;
a housing coupled to the cylinder, the housing including a plurality of axles disposed within said housing,
a plurality of gears coupled to a trigger;
a gear rack coupled to the cylinder; and
a storage compartment including a lid, the storage compartment adapted to store a plurality of beads, wherein the lid is one of slidably removable and rotatably removable, and said hooked portion adapted to string filamentous material through at least one bead having a thru-hole.
50. The apparatus of claim 49, wherein the storage compartment is removably coupled to the housing.
51. A method comprising:
sliding at least one bead onto a rod having a hook portion;
hooking a section of filamentous material over the hook portion; and
threading the at least one bead onto the filamentous material, wherein said threading the at least one bead onto the filamentous material is completed by moving a bead stop and forcing said at least one bead off said rod.
52. The method of claim 51, wherein the forcing said at least one bead off said rod activated by pulling a trigger coupled to the rod.
53. The method of claim 51, wherein the forcing said at least one bead off said rod activated by closing a switch coupled to a motor.
54. The method of claim 51, wherein the rod is one of straight or curved.
55. A method comprising:
sliding at least one bead onto a rod having a hook portion;
hooking a section of filamentous material over the hook portion;
threading the at least one bead onto the filamentous material, wherein said threading the at least one bead onto the filamentous material is completed by moving said rod through a bead stop and forcing said at least one bead off said rod.
56. The method of claim 55, wherein the moving said rod through said bead stop is activated by pulling a trigger coupled to the rod.
57. The method of claim 55, wherein the moving said rod through said bead stop is activated by closing a switch coupled to a motor.
58. The method of claim 55, wherein the rod is one of straight or curved.
59. A method comprising:
sliding at least one bead onto a rod having a hook portion;
hooking a section of filamentous material over the hook portion;
threading the at least one bead onto the filamentous material, wherein said threading the at least one bead onto the filamentous material is completed by moving said rod toward a bead stop and moving said bead stop toward said rod and forcing said at least one bead off said rod.
60. The method of claim 59, wherein the moving said rod toward the bead stop and moving said bead stop toward said rod is activated by pulling a trigger coupled to the rod.
61. The method of claim 59, wherein the moving said rod toward the bead stop and moving said bead stop toward said rod is activated by closing a switch coupled to a motor.
62. The method of claim 59, wherein the moving said rod toward the bead stop and moving said bead stop toward said rod is activated by using a quick bead loading device.
63. The method of claim 59, wherein the rod is one of straight or curved.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
a first drive source that rotates the first arm through a first angular velocity command;
a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
a first angle sensor that detects the rotation angle of the first drive source;
a second drive source that rotates the second arm through a second angular velocity command;
a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
a second angle sensor that detects the rotation angle of the second drive source;
a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity \u03c9A1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity \u03c9A1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source; and
a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity \u03c9A2 of the second arm around the second rotation axis obtained from the second inertia sensor, and an angular velocity \u03c9A2m of the second arm around the second rotation axis obtained from the second angle sensor, and controls the second drive source.
2. The robot according to claim 1, wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A1m from the angular velocity \u03c9A1, by a feedback gain; and
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m from the angular velocity \u03c9A2, by a feedback gain.
3. The robot according to claim 1, further comprising:
a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
a third drive source that rotates the third arm through a third angular velocity command;
a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
a third angle sensor that detects the rotation angle of the third drive source; and
a third drive source control unit that feeds back a third correction component, which is derived from the angular velocity \u03c9A2, an angular velocity \u03c9A3 of the third arm around the second rotation axis obtained from the third inertia sensor, and an angular velocity \u03c9A3m of the third arm around the third rotation axis obtained from the third angle sensor, and controls the third drive source.
4. The robot according to claim 3, wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A1m from the angular velocity \u03c9A1, by a feedback gain;
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m from the angular velocity \u03c9A2, by a feedback gain; and
the third drive source control unit feeds back the third angular velocity command by the third correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2 and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain.
5. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
a first drive source that rotates the first arm through a first angular velocity command;
a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
a first angle sensor that detects the rotation angle of the first drive source;
a second drive source that rotates the second arm through a second angular velocity command;
a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
a second angle sensor that detects the rotation angle of the second drive source;
a third drive source that rotates the third arm through a third angular velocity command;
a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
a third angle sensor that detects the rotation angle of the third drive source;
a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity \u03c9A1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity \u03c9A1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source;
a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity \u03c9A3 of the third arm around the second rotation axis obtained from the third inertia sensor, an angular velocity \u03c9A2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity \u03c9A3m of the third arm around the third rotation axis obtained from the third angle sensor, and controls the second drive source; and
a third drive source control unit that feeds back a third correction component, which is derived from an angular velocity \u03c9A2 of the second arm around the second rotation axis obtained from the second inertia sensor, the angular velocity \u03c9A3, and the angular velocity \u03c9A3m, and controls the third drive source.
6. The robot according to claim 5, wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A1m from the angular velocity \u03c9A1, by a feedback gain;
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain; and
the third drive source control unit feeds back the third angular velocity command by the third correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2 and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain.
7. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
a first drive source that rotates the first arm through a first angular velocity command;
a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
a first angle sensor that detects the rotation angle of the first drive source;
a second drive source that rotates the second arm through a second angular velocity command;
a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
a second angle sensor that detects the rotation angle of the second drive source;
a third drive source that rotates the third arm through a third angular velocity command;
a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
a third angle sensor that detects the rotation angle of the third drive source;
an angle detection unit that detects the arm angle formed between a longitudinal axis of the second arm and a longitudinal axis of the third arm;
a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity \u03c9A1 of the first arm around the first rotation axis of obtained from the first inertia sensor and an angular velocity \u03c9A1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source;
a second drive source control unit that feeds back either a value which is derived from an angular velocity \u03c9A3 of the third arm around the second rotation axis obtained from the third inertia sensor, an angular velocity \u03c9A2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity \u03c9A3m of the third arm around the third rotation axis obtained from the third angle sensor, or a value which is derived from an angular velocity \u03c9A2 of the second arm around the second rotation axis obtained from the second inertia sensor, and the angular velocity \u03c9A2m, as a second correction component according to the arm angle, and controls the second drive source; and
a third drive source control unit that feeds back a third correction component, which is derived from the angular velocity \u03c9A2, the angular velocity \u03c9A3, and the angular velocity \u03c9A3m, and controls the third drive source.
8. The robot according to claim 7, wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A1m from the angular velocity \u03c9A1, by a feedback gain;
the second drive source control unit feeds back the second angular velocity command, using either a value obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain, or a value obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m from the angular velocity \u03c9A2, by a feedback gain, as the second correction component; and
the third drive source control unit feeds back the third angular velocity command by the third correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2 and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain.
9. The robot according to claim 7, wherein:
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m and the angular velocity \u03c9A3m from the angular velocity \u03c9A3, by a feedback gain when the arm angle is equal to or larger than a first threshold and is equal to or smaller than a second threshold that is larger than the first threshold and that feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity \u03c9A2m from the angular velocity \u03c9A2, by a feedback gain when the arm angle is smaller than the first threshold or larger than the second threshold.
10. The robot according to claim 9,
wherein the first threshold is set within a range of 45\xb0 to 135\xb0, and the second threshold is set within a range of 225\xb0 to 315\xb0.
11. The robot according to claim 1,
wherein the first inertia sensor is installed at a tip portion of the first arm, and
the second inertia sensor is installed at a tip portion of the second arm.
12. The robot according to claim 3,
wherein the first inertia sensor is installed at a tip portion of the first arm,
the second inertia sensor is installed at a tip portion of the second arm, and
the third inertia sensor is installed at a tip portion of the third arm.
13. The robot according to claim 1,
wherein the first rotation axis coincides with a normal line of an installation surface of the base.
14. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that rotates with a second rotation axis orthogonal to the first rotation axis as an axial center;
a first inertia sensor that detects the angular velocity or acceleration of the first arm;
a first angle sensor that detects the rotation angle of a first drive source of the first arm;
a second inertia sensor that detects the angular velocity or acceleration of the second arm;
a second angle sensor that detects the rotation angle of a second drive source of the second arm;
a first control unit of the first drive source of the first arm that feeds back an angular velocity derived from a detection result of the first angle sensor and an angular velocity detected from the first inertia sensor; and
a second control unit of the second drive source of the second arm that feeds back an angular velocity derived from a detection result of the second angle sensor and an angular velocity detected from the second inertia sensor.