METHOD FOR DESIGNING ROTARY TYPE JOINT IN 3 DEGREE OF FREEDOM OR LESS SET BY MOVABLE AREA USING PROJECTION METHOD OF AREA IN TWO-DIMENSIONAL PLANE CONTAINING HEIGHT AND DEPTH INFORMATION ON SURFACE OF THREE-DIMENSIONAL SPHERE

摘要

PURPOSE: A method for designing a rotary type joint of 3 degree of freedom or less having a restriction in a movable area by integrally consideration of a joint/motor movement comprising each 1 degree of freedom is provided, thereby easily setting a movement area. Also it solves singularity and gimbal problems when used with a joint expression method. CONSTITUTION: In a joint expression method of conventional 1, 2 and 3 degree of freedom, each direction of a spherical shape in three-dimensional space is regarded as joint movement, an area expressed as a closed curve or polygon in a two-dimensional plane is regarded as a joint body-movable area, movable area is set on the surface of a sphere by projection of the area in the two-dimensional plane on the sphere in the three-dimensional space, height information is subjected to designation of a vector to a positive direction as a maximumly rotatable angle and depth information is subjected to designation of a vector to a negative direction as a maximumly rotatable angle.