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PACKAGING SELECTION METHOD FOR KINEMATICS CALCULATION LIBRARY, MANIPULATOR CONTROLLING METHOD, PROGRAM SELECTION SYSTEM FOR KINEMATICS CALCULATION, AND MANIPULATOR CONTROLLING SYSTEM
PACKAGING SELECTION METHOD FOR KINEMATICS CALCULATION LIBRARY, MANIPULATOR CONTROLLING METHOD, PROGRAM SELECTION SYSTEM FOR KINEMATICS CALCULATION, AND MANIPULATOR CONTROLLING SYSTEM
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机译：运动计算库的包装选择方法，机械手控制方法，运动学计算程序选择系统和机械手控制系统
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摘要
To provide a packaging selection method for a kinematics calculation library, capable of solving kinematics problems at a high speed.SOLUTION: A packaging selection method for a kinematics calculation library includes: a first step of compiling a plurality kinds of packagings of a kinematics calculation library using different rigid body conversion expression forms by a plurality kinds of compilers; a second step of performing each prescribed kinematics calculation by using the plurality kinds of packagings of the kinematics calculation library, complied in the first step; and a third step of selecting an optimum packaging for the prescribed kinematics calculation among the plurality kinds of packagings of the kinematics calculation library, by comparing results of the respective kinematics calculations performed in the second step.SELECTED DRAWING: Figure 1
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