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Abstruct: It is possible to say that the multi joint manipulator can work even if increasing of redundant quality,the numbers of links,and the complex structure. However, it becomes to fall down easily, because of the increasing of manipulator’s weight,which is caused by the increasing of the numbers of links. Therefore, accuracy of end-effecter will reduce. And then in order to control, the bigger power will be needed. Here,I think a manipulator just like a human-being who can do some high accuracy work by a little power with attaching elbow. So in this paper it is compared the two movements, without attaching elbow and with attaching elbow. Then we can get the conclusion in the movement without attaching elbow,it can work better, under the condition of smaller power.

2A1-A01 Improvement of orbit follow control that uses restraint movement with elbow