| 摘要 |
<p>A control device including a simulation unit configured to simulate behaviors of a virtual mechanical system, and a drive control unit configured to control driving of a plurality of servomotors based on the results of the simulation, is provided. The virtual mechanical system includes a first drive module, a first main shaft module connected to the first drive module, and a plurality of power transmission subsystems, each of which is connected to the first main shaft module and is associated with one of the plurality of servomotors respectively. Each of the power transmission subsystems includes a second drive module, a differential gear module including a main input shaft, an auxiliary input shaft, and an output shaft, and an output module. The main input shaft is connected with the first main shaft module, the auxiliary input shaft is connected with the second drive module via a first clutch module, and the output shaft is connected with the output module.</p> |
