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The method to control manipulator is classified into two large groups. One is playback control, another is logical control. Now, many industrial robots are controled by playback control. Usually playback control is considered as the simple reproduction of the learned action and it is not flexible. This paper describes that teaching data becomes flexible by combining playback control with logical control. As an example, it is shown that manipulator can write Chinese characters on a inclined plane by introducing the force control and coordinate transformation into the playback control.
Shigeto Aramaki (Sat,) studied this question.