Kinematic arithmetic method and apparatus
AssigneeFujitsu Limited
InventorFumio Nagashima
Life of this patent
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Abstract
There are provided kinematic arithmetic method and apparatus for evaluating positions and orientations of links of a link mechanism in which a plurality of links are coupled through joints. An angular acceleration of a joint is evaluated by substituating on a numerical basis an angle, an angular velocity, and a torque, of the joint into a relation. A numerical integration of the angular acceleration of the joint thus determined is preformed to evaluate the angle of the joint. A kinematics operation is performed to evaluate positions and orientations of the links on the basis of the angle of the joint determined through the numerical integration. A resultant of the kinematics operation is displayed.
Claims25
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;
- and
- a 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.
A kinematic arithmetic apparatus for evaluating positions and orientation of imaginary links of an imaginary link mechanism in which a plurality of imaginary links are coupled through imaginary joints, comprising:
- arithmetic means for evaluating an angular acceleration or an acceleration of a joint by substituting on a numerical basis an angle or a displacement, an angular velocity or a velocity, and 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;
- input means for inputting a torque or a force of the joint to said arithmetic means;
- numerical integration means for performing a numerical integration for the angular acceleration or the acceleration of the joint determined in said arithmetic means to evaluate the angular velocity or the velocity, and the angle or the displacement, of the joint, wherein said arithmetic means receives the angular velocity or the velocity, and the angle or the displacement, which are evaluated by said numerical integration means, and evaluates the angular acceleration or the acceleration of the joint;
- and
- kinematic means for evaluating positions and orientations of the links on the basis of the angle or the displacement of the joint determined in the numerical integration means.
A kinematic arithmetic apparatus for evaluating positions and orientation of imaginary links of an imaginary link mechanism in which a plurality of imaginary links are coupled through imaginarv joints, comprising:
- arithmetic means for evaluating an angular acceleration or an acceleration of a joint by substituting on a numerical basis an angle or a displacement, an angular velocity or a velocity, and 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;
- input means for inputting a target position of a tip edge of the link mechanism;
- torque set means for setting a torque according to a distance between a current position of the tip edge of the link mechanism, of the joint, and the target position inputted by said input means, the torque thus set being inputted to said arithmetic means;
- numerical integration means for performing a numerical integration for the angular acceleration or the acceleration of the joint determined in said arithmetic means to evaluate the angular velocity or the velocity, and the angle or the displacement, of the joint, wherein said arithmetic means receives the angular velocity or the velocity, and the angle or the displacement, which are evaluated by said numerical integration means, and evaluates the angular acceleration or the acceleration of the joint;
- and
- kinematic means for evaluating positions and orientations of the links on the basis of the angle or the displacement of the joint determined in the numerical integration means.
Dependencies are inferred from the claim text.