Abstract
An Additional Wrist Mechanism (A W M) has been developed as an additional mechanism which constructs a redundant manipulator when installed to a usual manipulator. It is a special link mechanism with two degrees of freedom. The distinctive feature of a manipulator with AWM is the last three degrees of freedom concentrated at the center of hand. The hand orientation can be controlled independently of the hand position using only these three degrees of freedom. Therefore we can apply a partitioned control scheme by means of a multi-processor control system in order to reduce the amount of computation. It means that an A WM functions as an intelligent component for the hand orientation control of manipulators. Its effectiveness has been verified by two basic experiments.
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