Patent ID: 6027238
Filing Date: 2000-02-22
Classification: B25J,G05B

Abstract:
A kinematic arithmetic method for evaluating positions and orientations of imaginary links of an imaginary link mechanism in which a plurality of imaginary links are coupled through imaginary joints, comprising:a first step of evaluating an angular acceleration or an acceleration of a joint by substituting on a numerical basis an initial value of an angle or a displacement, an initial value of an angular velocity or a velocity, and an initial value of a torque or a force, of the joint into a relation defining a relationship between the angle or the displacement, the angular velocity or the velocity, the angular acceleration or the acceleration, and the torque or the force, of the joint;a second step of evaluating the angular velocity or the velocity, and the angle or the displacement, of the joint by practicing a numerical integration of the angular acceleration or the acceleration of the joint determined through the numerical substitution of the angle or the displacement, the angular velocity or the velocity, and the torque or the force, of the joint into said relation;a third step of evaluating the angular acceleration or the acceleration of the joint by substituting on a numerical basis into said relation the angular velocity or the velocity, and the angle or the displacement, of the joint determined in the second step, and the initial value of the torque or the force, of the joint, or updated torque or force instead of the initial value; anda fourth step of evaluating positions and orientations of the links on the basis of the angle or the displacement of the joint determined in the second step,wherein the second step and the third step are alternately repeated, and the fourth step is repeatedly performed, thereby sequentially updating positions and orientations of the links.