Abstract
パラレルリンクマニピュレータの作業座標での制御は順運動学計算と関節駆動力を求める際のヤコビ逆行列の計算のため煩雑となる。本論文では計算効率を改善した作業座標制御系の設計法を提案し, 実験により有効性を示す。
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