PURPOSE: To provide a method for grouping shape of articulated link for controlling without using the conventional kinematics by previously obtaining the required shape group such as a group of shape change to be required for movement.
CONSTITUTION: In an articulated link, at the time of grouping the ndimensional joint angle vector for expressing the numberless shape, which exist at the time of changing the rotating angle of each joint, with a neural net, plural number of vectors corresponding to the kind of a desirable shape are previously provided on the output map so as to group the shape similar with that kind thereof on the map for output, and a function value obtained as the function of joint angle is included in the element of a vector, and grouped as a vector for output.
| JP6297989 | Transport device |
| JPH0760661 | ROBOT SYSTEM |
| WO/2020/017266 | SIMULATION DEVICE, SIMULATION PROGRAM, AND SIMULATION METHOD |
OZAWA YUTAKA
SHIMIZU YUJIRO
YANAGIDA MASATAKA
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