Control of robot arms.

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The state of the art of motion control and force control of robot arms is reviewed and the kinematics and statics of sophisticated robot arm mechanisms such as the redundant arm, multiple arms and the flexible arm are unified from a new viewpoint of the system theoretical approach. The two main techniques for the motion control are model-based control and feed-back control. A feedback control scheme called disturbance cancellation control is a challenge to the model-based scheme to eliminate the inverse dynamics calculation. Transition problems regarding the force control such as collision detection and collision force control are new problems of interest. The system theoretical approach to the arm mechanisms is an effective means of understanding the mapping relation between the workspace and the jointspace and gives fundamentals to the task description in the workspace.

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