| 摘要 |
PURPOSE:To simplify the conversion of coordinates without deteriorating the accuracy by using a conversion table related to a triangle formed by the continuous arms to convert the orthogonal data into the joint data. CONSTITUTION:When the wrist vectors PW are referred to as K1, K2 and K, the angles theta2 and theta3 can be shown by eta, xsi and phi (phi: arc sign ZW/K and eta: arc sign K2/K, etc.). This can solve a triangle. Therefore the lists of xsi and eta corresponding to the values of K are produced and both xsi and eta are obtained from the value of the list and the linear interpolation based on the given K. Then the angles theta2 and theta3 are obtained from the obtained xsi and eta. The list is previously produced so as to satisfy the desired accuracy in order to secure the accuracy of calculations. |
