1A1-P07 並列的解法を用いた直動リンクを有するロボット機構の逆動力学計算(脚移動ロボット(1))

抄録

A use of linear-motion link mechanism can effectively increase the motion range of a robot with a small cost. However, special assumptions should be made for the expansion and contraction of the link mechanism when the robot requires the dynamics compensation. The present report describes the assumption of these features in the inverse dynamics parallel solution scheme and an example of torque calculation for a walking motion.