PHYSICAL QUANTITY COMPUTING METHOD AND PHYSICAL QUANTITY COMPUTING DEVICE

摘要

A physical quantity computing method and device for lightening the load of computation of a physical quantity about the velocity of a moving member which an automatic machine having joints includes and which moves by the operation of the joints and for speeding up the computation. By the method and device, a first mathematical formula representing the position 0p of a wrist (X) is defined by using a transformation matrix i-1Ti composed of a first matrix Trot(zj-1, θj) and a second matrix Ttrans(ai, 0, dj) Trot(xi,αi), thetransformation matrix i-1Ti in the first mathematical formula is differentiated without developing the transformation matrix i-1Ti, thereby a second mathematical formula expressed by a matrix defined by differentiating the transformation matrix i-1Ti and a transformation matrix j-1Tj is expressed by the transformation matrix i-1Ti, a derivative matrix defined by differentiating the first matrix Trot(zj-1, θj), and the second matrix Ttrans(ai, 0, dj) Trot(xi,αi), and thus the physical quantity is computed.