Abstract
In controlling the articulated manipulator in real time, various kinds of operations and computations should be processed as soon as possible in order to attain dynamical movements in good quality. This paper proposes an approximation method which uses three order polynomial functions to calculate each angle value of a manipulator for a short time. In deciding the coefficients of these polynomial functions, two methods are used. One is the method of least square using actual data which are calculated accurately by solving the nonlinear equations, and another is the training method. The computer simulation shows a good performance of this method.
