The robot arm and the arm form which consist of the plural joint elements expedient in order to specify

摘要

In order as for the robot arm, with advanced following motion the arm to be able to take, snake way form, the plural joint elements (12) with, the various elements (12a, 12b and 12c) control means in order to control position it consists of (6). Expedient in order to measure at least several relative positions of the element directly (2) calculates the deviation from form with respect to theory, is provided in order to give correction value to arm control means.