| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for initially setting the position of the origin that becomes a reference of a positioning operation, in order to improve positioning accuracy of a link actuation device which is capable of fast operating over a wide operation range in spite of compact configuration. <P>SOLUTION: A method for initially setting the position of the origin of a link actuation device involves: a first process for setting, to a determined orientation, a distal orientation which is the orientation of a distal link hub 3 relative to a proximal link hub 2 of the link actuation device 51; a second process for applying a preload, which is a force for changing the distal orientation relative to the link actuation device 51 in which the distal orientation is the determined orientation; and a third process for storing the operation amount of each actuator 53 in a state in which the preload has been applied to the link actuation device 51, and this stored operation amount is set as the origin position of each actuator 53. <P>COPYRIGHT: (C)2013,JPO&INPIT |
