| 摘要 |
PURPOSE:To reduce actuators and the like in number, and thereby make joints light in weight by providing the actuators for (k) each of the joints out of (n) each of the joints of a manipulator with (n) freedoms, and thereby providing holding brakes for (n-k) each of the joints. CONSTITUTION:(K) each of joints C out of plural numbers of the joints C (C1 through Cn) are provided with actuators A (A1 through Ak), and (n-k) each of the joints C are provided with holding brakes B (B1 through Bnk). Let an object to be controlled be a manipulator with (n) freedoms, let the joints C with (k (>=n/2)) freedoms be active joints composed of the actuators A, and let remaining (n-k) freedoms be formed by passive joints composed of the holding brakes B. The active joints can be controlled by a normal method with the holding brakes turned 'ON', and the passive joints can be indirectly controlled by torque generated by moving the active joints with the holding brakes turned 'OFF'. The combination of these two control modes enables an angular acceleration of (k) each of the joints including (n-k) each of the passive joints to be controlled by the torque of (k) each of the active joints.
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