CONTROL PROGRAM, CONTROL METHOD, AND CONTROL DEVICE

摘要

The present invention is provided with a simulation unit for simulating the operation of a virtual mechanical mechanism, and a drive control unit for controlling the driving of a plurality of servomotors on the basis of the result of the simulation. The virtual mechanical mechanism is provided with: a first drive module; a first main shaft module connected to the first drive module; and a plurality of power transmission subsystems that are connected to the first main shaft module and are respectively associated with the plurality of servomotors. Each of the power transmission subsystems is provided with: a second drive module; a differential gear module having a main input shaft, an auxiliary input shaft, and an output shaft; and an output module. The main input shaft is connected to the first main shaft module, the auxiliary input shaft is coupled to the second drive module via a first clutch module, and the output shaft is connected to the output module.