| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the problem of a singular point and naturally move a link mechanism by finding the position and attitude of a link on the basis of the angle and displacement of an articulation. SOLUTION: When the link positions and attitudes of the link mechanism constituted by connecting plural links through articulations are found, an arithmetic means 1 substitute the numerals of the angle (q), angular-velocity (q) dots, and torqueτof an articulation in a relational expression prescribing the relation among the angle (q), respective velocity (q) dots, angular acceleration (q) dots, and torqueτof the articulation to find the angular velocity q2 dots of the articulation. Further, an input means 2 inputs the torqueτof the articulation to the arithmetic means 1 so that it can freely be varied. Further, a numeral analyzing means 3 numerically integrates the angular acceleration q2 dots of the articulation found by the arithmetic means 1 to find the angular velocity (q) dots and angle (q) of the articulation and inputs them to the arithmetic means 1. Then a kinematics means 4 finds the position and attitudes of the link on the basis of the angle (q) of the articulation found by the numeral integration means 3.
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