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Joint torque measuring method, inverse dynamics calculation system, and joint torque measuring program
Joint torque measuring method, inverse dynamics calculation system, and joint torque measuring program
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机译：联合扭矩测量方法，逆动力学计算系统和联合扭矩测量程序
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摘要
PROBLEM TO BE SOLVED: To provide a joint torque measurement method based on inverse dynamics having a small measurement error and short measurement time, and an inverse dynamics calculation system and a joint torque measurement program.SOLUTION: A joint torque measurement method and a joint torque measurement program based on inverse dynamics: acquire position information of all links with respect to an object, and force information and moment information acting on the links (S2); acquire acceleration information in which equations of motion of an entire system of the object are balanced on the basis of the position information, the force information and the moment information (S6); and calculate joint torque of the joint between the links on the basis of the acceleration information, and acquire joint torque information (S7).SELECTED DRAWING: Figure 7
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