| 摘要 |
PURPOSE:To simulate the action of an optional robot arm by linking the input unit where the structure data and mechanism data of a robot are inputted and the formula processing arithmetic unit to operate based upon respective data given from the input to a coordinate converting arithmetic unit. CONSTITUTION:Based upon respective signals of a data signal where the position and the attitude of a robot arm tip are inputted to a position attitude input unit 1, a signal operated and converted the data signal inputted to an input unit 5 to input respective data of the mechanism and the structure of a robot by a formula processing arithmetic unit 6, and the signal of respective present joint angles of a robot arm, respective next joint angles of the robot arm are operated by a coordinate converting arithmetic unit 2. The output signal of the arithmetic unit 2 is inputted to a control unit 3 of the robot arm, operated to match with respective joint angle displacements and the speed of the robot arm and comes to be the driving signal of the robot arm. A robot arm 4, following the driving signal, acts respective joint angles, following the driving signal inputted from the control unit 3.
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