发明名称 |
LINKING APPARATUS CONTROL DEVICE |
摘要 |
A control device is provided which is operable to change the position of a distal end side link hub by driving each of arms, which are proximal end side links of a plurality of link mechanisms by means of an actuator. When in a series of operations, the position change of the distal end side link hub is mad by an angle greater than a predetermined angle, a relay position setting unit is provided for setting a relay point between a starting point and a terminating point of each of the arms so that the interference of the three axis arms may be relieved. A position change control unit performs a position control so as to pass simultaneously through the relay point so set. |
申请公布号 |
EP2979823(A1) |
申请公布日期 |
2016.02.03 |
申请号 |
EP20140773642 |
申请日期 |
2014.03.17 |
申请人 |
NTN CORPORATION |
发明人 |
NISHIO, YUKIHIRO;ISOBE, HIROSHI;YAMADA, HIROYUKI |
分类号 |
B25J9/10;B25J11/00;F16H21/50 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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