公开(公告)号：JP2000301480A

公开(公告)日：2000-10-31

申请号：JP11417299

申请日：1999-04-21

Applicant: AGENCY IND SCIENCE TECHN

Inventor： TANAKA YOSHIO ,  KAWAKAMI HIROSHI ,  FUJIMOTO KENICHI

IPC: B25J13/00 ,  G05B13/02 ,  G05B19/18

Abstract: PROBLEM TO BE SOLVED: To provide a method for dynamically controlling two manipulator pairs independently controllable by a single actuator by utilizing a difference between nonlinear dynamics and having a free joint. SOLUTION: In a plurality of manipulator pairs independently controllable by a single direct controllable actuator and having a free joint, a parameter branch figure regarding two control parameters is produced based on given data. By using the figure, some of a plurality of the manipulators are selected or movement of all the manipulators is dynamically controlled according to a using purpose.