抄録
This paper describes a new control scheme to position plural output points of planar network-structure robots which are composed of many modules with linear actuators and multi-jointed links and revolute pairs. By specifying the desired position of the representative point on each module, inverse kinematics of each module was carried out and then all of actuator inputs of the robot were obtained through iterative calculation. By computer simulations, it was confirmed that four output points of a network-structure robot with 10 degrees-of-freedom could be positioned with an adequate accuracy.
