Abstract
In the paper, it is written about a study of a robot that it was installed a robot of 3'DOF on the tip of a robot of 6'DOF. This paper describes control method to be able to create the movement that imitated finger-arm movement of a human being. It will be enable to achieve this purpose by using algorithm of cooperation control of a finger-arm. In the method, When a finger trace aim orbit, an arm assists you to be a finger always keeps high manipulability. The effectiveness of the method is inspected experimentally.
