Title:
CONTROL DEVICE FOR LINK ACTUATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/048561
Kind Code:
A1
Abstract:
A control device (4) for a link actuation device (1) comprises an instruction conversion unit (42), an arm setting unit (50), and an arm control unit (39). The instruction conversion unit (42) performs inverse conversion to calculate rotation angles for arms (11a to 13a) corresponding to a target link attitude (θ, φ), when the attitude of a distal-end-side link hub (15) opposite a proximal-end-side link hub (14) is changed. The arm setting unit (50) sets two of the arms as drive arms for driving and the remaining arm as a free arm, on the basis of the calculated rotation angles for the arms (11a to 13a). The arm control unit (39) drives and positions the free arm after only the two drive arms that have been set are driven and positioned.
Inventors:
SAKATA SEIGO (JP)
Application Number:
PCT/JP2023/031163
Publication Date:
March 07, 2024
Filing Date:
August 29, 2023
Export Citation:
Assignee:
NTN TOYO BEARING CO LTD (JP)
International Classes:
B25J11/00; B25J13/00; F16H21/46
Foreign References:
| JP2013096524A | 2013-05-20 | |||
| JP2019136833A | 2019-08-22 | |||
| JP2013198942A | 2013-10-03 |
Attorney, Agent or Firm:
SUGIMOTO, Shuji et al. (JP)
Download PDF: