Abstract
In the second report, a computer control system of the coordinative motion of the mechanical arm is described. This control system is a real time system which consists of a servo system to control the motion of the arm, tactile and visual information processing systems and some other subsystems. The servo system is a software servo system, of which the controlling unit is constructed of a computer software. In this controlling unit, a mathematical model of the arm and its driving unit is programmed. Making use of this mathematical model, the motion, force and moment of the hand and the stiffness of the servo at the hand can be controlled in various coordinate systems properly designated in the work space of the arm.
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