Control apparatus for multi-jointed arm mechanism.

摘要

In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements (1-9), to the end of enhancing the operating speed of each arm element, a true control error between a fore end (9) of the arm element and a target position (10) thereof, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.