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CONTROL DEVICE AND CONTROL METHOD FOR PARALLEL LINK MECHANISM, AND SYSTEM INCLUDING PARALLEL LINK MECHANISM AND CONTROL DEVICE
CONTROL DEVICE AND CONTROL METHOD FOR PARALLEL LINK MECHANISM, AND SYSTEM INCLUDING PARALLEL LINK MECHANISM AND CONTROL DEVICE
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机译:并行链接机制的控制装置和控制方法以及包括并行链接机制和控制装置的系统
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摘要
To provide a control device for suitably controlling a parallel link mechanism having mechanism constraints, a control method and a system.SOLUTION: A control device 36 for a parallel link mechanism 10 has: a command position preparation part 40 which prepares plural command positions of which each includes combination of a position and an attitude of a mechanism tip 22; a model preparation part 42 which prepares a mathematical model which represents a prohibition area concerning a position and an attitude of the mechanism tip 22 in an interpolation operation between plural command positions, on the basis of a distance between a point on a slave rotation axis 20, at which a distance between a position of the mechanism tip 22 at each of the plural command positions and an axis which represents an attitude of the mechanism tip 22 becomes shortest, and a master rotation axis; and an interpolation command part 44 which prepares an interpolation command concerning a position and an attitude of the mechanism tip 22 on the basis of the prepared mathematical model so that the position and the attitude of the mechanism tip 22 do not enter the prohibition area during an interpolation operation.SELECTED DRAWING: Figure 1
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