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INVERSE KINEMATIC SOLUTION FOR MULTI-JOINT LINK MECHANISM AND DEVICE FOR CREATING INSTRUCTIONAL DATA BY USING INVERSE KINEMATIC SOLUTION
INVERSE KINEMATIC SOLUTION FOR MULTI-JOINT LINK MECHANISM AND DEVICE FOR CREATING INSTRUCTIONAL DATA BY USING INVERSE KINEMATIC SOLUTION
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机译：多关节连杆机构的逆运动学解决方案和使用逆运动学解决方案创建指令数据的装置
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摘要
The articulated link mechanism has a driving joint driven by a driving source and a driven joint moving longitudinally in accordance with the movement of the driving joint. First, an open loop link mechanism that changes the position and attitude of the work from the multi-joint link mechanism is selected. The amount of movement and rotation of each joint constituting the selected open-loop link mechanism is derived. And the amount of movement and rotation of each joint of the closed loop link mechanism constituted by at least a part of the joints of the open-loop link mechanism and the non-selected joints is derived by setting the amount of movement and rotation of each joint of the derived open-do.;
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