| 摘要 |
Each actuator command is obtained based on kinematic parameters at step S 1, loads exerted by weight of each component of a machine are calculated at step S 2, and loads in the direction of axis of each actuator are obtained at step S 3. Then loads in the direction of axis of each strut are decomposed into directions of axes of the first and second universal joints at step S 4, the amounts of elastic deformation of each element are obtained at step S 5, and the amounts of elastic deformation of each universal joint are approximately converted to displacement in the direction of axis of each actuator at step S 6. Thereafter, at step S 7 displacement in the direction of axis of each actuator obtained at step S 5 and S 6 is subtracted from each actuator command to renew each actuator command, thus the machine is controlled according to renewed each actuator command.
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