List of figures
1. Industrial robots with an open-architecture controller xxvii
1.1. PUMA560 manipulator 5
1.2. Block diagram of the resolved acceleration control method, where xr, 
and ctI*G the desired position/orientation, velocity and acceleration vectors in Cartesian coordinate system 6
1.3. Trajectory following control problem 7
1.4. Desired joint angle θr, velocity 
and acceleration in joint space 8
1.5. Genotype of Kv and Kp which means ...
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