FORWARD KINEMATIC ANALYSIS METHOD AND REVERSE KINEMATIC ANALYSIS METHOD FOR ARTICULATED LINK MECHANISM

摘要

PURPOSE: To efficiently perform the forward operation analysis and reverse operation analysis of an articulated link mechanism. ;CONSTITUTION: For the articulated link mechanism for which plural links are connected serially in a chain by joints provided with a rotation or translation function, when a relation expression indicating mechanistic relation between adjacent links and the position and posture of a final link are supplied, a correction coefficient λ for simulating nonlinear characteristics is introduced to a Gauss-Newton method used in the method of nonlinear least squares, repetitive calculation is performed while changing the correction coefficient so as to monotonically decrease an object function and a globally realizable joint angle is lead. Thus, even when an initial value is shifted from a true value for a certain degree or even to an equation with strong nonlinearity, a numerically stable solution is obtained without inviting divergence vibration or the like.;COPYRIGHT: (C)1995,JPO