301 リンク機構の並列的逆動力学計算法の開発 : 統一的手法の構築を目指して

概要

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A new era of computational mechanics, where the Finite Element Method (FEM) is applied to the field of control, has arrived. A parallel solution scheme of inverse dynamics developed by using the FEM, can cope with most of link systems as a unified scheme, regardless of their boundary conditions. The torque curves can be obtained seamlessly without changing the numerical algorithm, even in such cases where the dynamics of the link systems would continuously change. A feed-forward control experiment of a continuously transforming link mechanism is carried out to verify the validity of the scheme, and some numerical results when applied to flexible manipulators are also shown. It is one of the cases where the application of the FEM can be well demonstrated.
一般社団法人日本機械学会の論文
2003-08-05