| 摘要 |
PROBLEM TO BE SOLVED: To provide a parallel link mechanism control method and a controller which can improve the positioning accuracy. SOLUTION: In this parallel link mechanism control method, the coordinates d0 of plural actuators corresponding to the target position of a tool unit are calculated from prescribed mechanism parameter P0 in steps S10 and S12. In steps S14, S16 and S18, the force applied to a traveling plate, etc., is calculated from the coordinates d0 in accordance with the target position and attitude. In a step S22, the deformed variable caused by elastic deformation occurring on the traveling plate, etc., is calculated from the force that is calculated in the steps S14, S16 and S18. In a step S24, mechanism parameter P is corrected according to the elastic deformed variable. In a step S26, the coordinates d1 of plural actuators corresponding to the target position of the tool unit are calculated from the corrected mechanism parameter P.
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