Title:
METHOD AND DEVICE FOR KINEMATICS OPERATION
Document Type and Number:
Japanese Patent JP3247832
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To eliminate the problem of a singular point and naturally move a link mechanism by finding the position and attitude of a link on the basis of the angle and displacement of an articulation.
SOLUTION: When the link positions and attitudes of the link mechanism constituted by connecting plural links through articulations are found, an arithmetic means 1 substitute the numerals of the angle (q), angular-velocity (q) dots, and torque τ of an articulation in a relational expression prescribing the relation among the angle (q), respective velocity (q) dots, angular acceleration (q) dots, and torque τ of the articulation to find the angular velocity q2 dots of the articulation. Further, an input means 2 inputs the torque τ of the articulation to the arithmetic means 1 so that it can freely be varied. Further, a numeral analyzing means 3 numerically integrates the angular acceleration q2 dots of the articulation found by the arithmetic means 1 to find the angular velocity (q) dots and angle (q) of the articulation and inputs them to the arithmetic means 1. Then a kinematics means 4 finds the position and attitudes of the link on the basis of the angle (q) of the articulation found by the numeral integration means 3.
Inventors:
Shiro Nagashima
Application Number:
JP30178695A
Publication Date:
January 21, 2002
Filing Date:
November 20, 1995
Export Citation:
Assignee:
富士通株式会社
International Classes:
F16H21/00; G05B11/01; G06F17/50; (IPC1-7): G06F17/50
Other References:
Ｐｒｏｃｅｅｄｉｎｇｓ ｏｆ ｔｈｅ １９９２ ＩＥＥＥ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｒｏｂｏｔｉｃｓ ａｎｄ Ａｕｔｏｍａｔｉｏｎ，ｐ９０５−９１２，Ｆ．Ｎａｇａｓｈｉｍａ ｅｔ ａｌ．，”Ｅｆｆｉｃｉｅｎｔ Ｃｏｍｐｕｔａｔｉｏｎ Ｓｃｈｅｍｅ ｆｏｒ ｔｈｅ Ｋｉｎｅｍａｔｉｃｓ ａｎｄ Ｉｎｖｅｒｓｅ Ｄｙｎａｍｉｃｓ ｏｆ ａ Ｓａｔｅｌｌｉｔｅ−Ｂａｓｅｄ Ｍａｎｉｐｕｌａｔｏｒ”
日本ロボット学会誌 ６巻 ２号 ６５−７１頁 黒岩正「ロボットの機構設計用シミュレーション・システム」
日本ロボット学会誌 ６巻 ２号 ６５−７１頁 黒岩正「ロボットの機構設計用シミュレーション・システム」
Attorney, Agent or Firm:
Masaki Yamada (1 person outside)