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INVERSE KINEMATIC SOLUTION FOR MULTI-JOINT LINK MECHANISM, AND DEVICE FOR CREATING INSTRUCTIONAL DATA BY USING INVERSE KINEMATIC SOLUTION
INVERSE KINEMATIC SOLUTION FOR MULTI-JOINT LINK MECHANISM, AND DEVICE FOR CREATING INSTRUCTIONAL DATA BY USING INVERSE KINEMATIC SOLUTION
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机译:用于多关节机构的逆运动学解决方案,以及通过使用逆运动学解决方案来创建指令数据的装置
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摘要
This multi-joint link mechanism has a driving joint driven by a driving source and a driven joint driven by the movement of the driving joint. First, an open-loop link mechanism that allows the position and orientation of a workpiece to be varied is selected from a multi-joint link mechanism. The amount of movement/rotation of each of the joints constituting the selected open-loop link mechanism is derived. The derived amounts of movement/rotation of each of the joints of the open-loop link mechanism are set as fixed values to derive the amount of movement/rotation of each of the joints of a closed-loop link mechanism composed of non-selected joints and at least some of the joints of the open-loop link mechanism.
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