Critical element study on autonomous position control of articulated-arm type manipulator. - Oka, Kiyoshi; Japan Atomic Energy Research Institute; Kakudate, Satoshi; Nakahira, Masataka; Tada, Eisuke; Obara, Kenjiro; Taguchi, Kou; Kanamori, Naokazu; Mitsunori, Kondoh; Shibanuma, Kiyoshi; Seki, Masahiro (Ibaraki-ken : JAERI, 1994)