再帰式を用いた関節加速度の計算法

空間リンク機構の軌道生成に関する研究

抄録

A method of calculating joint accelerations of a link mechanism is proposed using recursions on Newton-Euler equations. The force and torque vectors exerting from the link i-1 to the link i are expressed by linear terms with respect to linear and angular accelerations vectors of the link i-1. In case of a link of n degrees of freedom (dof), the numbers of additions and multiplications of the proposed method are 536n and 680n, respectively, while those of the methods proposed by Walker and Orin are of the order n³. Numerical experiments show that (1) the computation time of the proposed method becomes less than those of the methods of Walker and Orin when the dof of the link becomes greater than 20, (2) the exact digits of the torque vector of the proposed method is 4-6, while the exact digits of the methods of Walker and Orin are less than those of the proposed method and they decrease as the dof increases.