| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method for a manipulator having high redundancy. SOLUTION: In this control method of a manipulator using a finite element method, the manipulator comprises a plurality of link members 3, 4 and a plurality of active or passive joints 1, 2 for joining the link members to each other. In a model of the manipulator using the finite element method, besides joint nodes 10, 11, 12 corresponding to the joints, nodes 8, 9 called gravity center nodes are provided at points substantially corresponding to the gravity center of a link, a unit comprising a link member and a joint, to divide an element corresponding to each of the link members 3, 4 into two parts, and numerical integration points are shifted to the gravity center nodes 8, 9, thereby calculating torque at each node.
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