| 摘要 |
PROBLEM TO BE SOLVED: To provide a physical quantity arithmetic operation method and a physical quantity arithmetic operation device, capable of quickening arithmetic processing, by reducing a load for arithmetically operating a physical quantity on a speed of a moving member moving by joint operation, in an automatic machine having a plurality of joints. SOLUTION: The physical quantity is arithmetically operated by expressing a second numerical expression indicated by a conversion matrix<SP>i-1</SP>Ti and a matrix of differentiating the conversion matrix<SP>i-1</SP>Ti by the conversion matrix<SP>i-1</SP>Ti, a differential matrix of differentiating a first matrix T<SB>rot</SB>(z<SB>i-1</SB>,θ<SB>i</SB>) and a second matrix T<SB>trans</SB>(a<SB>i</SB>, O, d<SB>i</SB>) * T<SB>rot</SB>( x<SB>i</SB>,α<SB>i</SB>), by differentiating without developing the conversion matrix<SP>i-1</SP>Ti in a first numerical expression, after setting the first numerical expression of indicating a position<SP>O</SP>p of a wrist X, by the conversion matrix<SP>i-1</SP>Ti constituted of the first matrix T<SB>rot</SB>(z<SB>i-1</SB>,θ<SB>i</SB>) and the second matrix T<SB>trans</SB>(a<SB>i</SB>, O, d<SB>i</SB>) * T<SB>rot</SB>(x<SB>i</SB>,α<SB>i</SB>). COPYRIGHT: (C)2009,JPO&INPIT
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