| 摘要 |
This method for initially setting the position of the origin of link actuators involves a first process for setting, to a determined orientation, the tip orientation, which is the orientation of a distal link hub (3) relative to a proximal link hub (2) of a link actuator (51), a second process for applying a preload, which is a force for changing the tip orientation relative to the link actuator (51) in which the tip orientation is the determined orientation, and a third process for storing the operation amount of each actuator (53) when in a state in which the preload has been applied to the link actuator (51); this stored operation amount is set as the origin position of the actuators (53). |
