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Title:
HIGH SPEED CALCULATION METHOD FOR LINK SYSTEM DYNAMICS
Document Type and Number:
Japanese Patent JP2003039356
Kind Code:
A
Abstract:

To provide a high speed calculation method for link system dynamics capable of calculating sequential dynamics of a rigid body link system including an open link mechanism and a closed link mechanism at a high speed.

This dynamics calculation method in the link system constituted by connecting links by revolute joints comprises (1) a first step for adding the revolute joints one by one sequentially from a condition in which individual links are scattered to obtain a restraint force acting on the revolute joint between the links at the time, (2) a second step for excluding the revolute joints according to the order reverse to that in the first step to calculate a final restraint force in each revolute joint, (3) a third step for calculating acceleration of the link using an external force acting on each link and obtained in the first and second steps, and (4) a fourth step for calculating revolute joint acceleration using acceleration of links on both sides of each revolute joint and obtained in the third step.


Inventors:
Nakamura, Yoshihiko
Yamane, Katsu
Application Number:
JP2001000228804
Publication Date:
February 13, 2003
Filing Date:
July 30, 2001
Export Citation:
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Assignee:
UNIV TOKYO
International Classes:
G01P15/00; B25J9/16; B25J9/22; G05B17/00; G06F17/10; G06F17/16; G06F17/50; (IPC1-7): B25J9/22; G01P15/00; G06F17/10; G06F17/16



 
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