| 摘要 |
PCT No. PCT/JP94/01978 Sec. 371 Date May 22, 1996 Sec. 102(e) Date May 22, 1996 PCT Filed Nov. 22, 1994 PCT Pub. No. WO95/14555 PCT Pub. Date Jun. 1, 1995A multi-articulate arm type transporting device includes first and second link sets. The link sets are operatively connected with first and second driving means which independently rotate the link arrangements about a common axis. The two driving means are controlled by first and second controllers which are responsive to control inputs to respectively produce first and second outputs to the first and second driving means to respectively rotate the link arrangements in accordance with a predetermined schedule. This schedule includes one or more modes which operates motors of the two drive means in a manner which obviates the so-called jack-knife phenomenon wherein the links tend to lock-up and refuse to respond to torque applied from the motors of the drive means.
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