I
n
t
e
r
n
at
ion
al
Jou
r
n
a
l
of
Robot
ics
an
d
Au
t
om
at
ion
(
I
JRA
)
Vo
l
.
9
,
No.
1
,
M
a
r
c
h
20
20
,
pp.
4
2
~
4
5
I
S
S
N:
2089
-
4856
,
DO
I
:
10
.
11591/
i
j
r
a
.
v
9
i
1
.
pp
4
2
-
45
42
Jou
r
n
al
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e
page
:
ht
tp:
//
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to
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d
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[
1
]
.
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[
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
R
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b
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I
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N:
2089
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4856
T
w
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F
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c
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(
H.
S
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ha
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43
2.
OP
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ON
OF
T
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HAS
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CONT
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d
if
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e
r
e
n
c
e
pha
s
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g
l
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h
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wo
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ur
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d.
F
i
na
ll
y
a
f
t
e
r
s
t
a
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t
t
h
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s
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ng
l
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p
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m
o
to
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r
un
s
d
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pe
n
d
i
ng
o
nly
o
n
t
h
e
m
a
i
n
w
i
nd
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ng.
S
i
n
c
e
t
hi
s
i
s
b
e
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l
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p
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,
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o
m
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f
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s
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s
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o
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i
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t
e
d
w
i
t
h
m
o
to
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dur
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n
g
t
h
e
r
un
ni
ng.
T
o
r
un
t
hi
s
s
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ng
l
e
-
p
h
a
s
e
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nduc
t
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m
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f
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o
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t
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a
s
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s
upp
ly
,
m
o
d
if
i
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a
t
i
o
n
m
u
s
t
b
e
do
n
e
[
6
-
7
]
.
C
a
pa
c
i
t
o
r
a
n
d
c
e
n
t
r
i
f
uga
l
s
w
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t
c
h
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r
e
t
h
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o
t
n
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e
de
d,
a
n
d
t
h
e
y
a
r
e
c
ut
o
f
f
t
h
r
o
ugh
t
h
e
ope
r
a
t
i
o
n
.
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h
e
a
u
xil
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a
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y
w
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nd
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n
g
s
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f
t
hi
s
m
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ll
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s
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m
a
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ph
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s
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w
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nd
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ngs
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I
n
t
h
e
m
o
d
i
f
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d
t
wo
-
ph
a
s
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m
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or
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t
h
e
w
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d
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s
w
il
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c
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m
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n
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mm
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bl
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f
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t
w
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-
ph
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s
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m
o
to
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o
pe
r
a
t
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o
n
[
8
]
.
F
i
g
ur
e
1
,
gi
v
e
s
t
h
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m
o
d
i
f
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c
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o
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to
b
e
t
wo
-
ph
a
s
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nduc
t
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o
n
m
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to
r
[
9
]
.
N
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m
a
ll
y
,
a
v
a
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bl
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t
wo
ph
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ge
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f
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m
a
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l
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pha
s
e
t
wo
ph
a
s
e
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nve
r
t
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f
e
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d
t
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m
o
d
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f
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d
m
o
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wi
t
h
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t
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l
l
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s
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pe
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i
gur
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1.
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ve
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f
s
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l
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ph
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to
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wo
ph
a
s
e
m
o
to
r
s
3.
M
AT
HE
M
AT
I
CA
L
AN
AL
YSI
S
AN
D
M
OT
OR
P
E
RF
ORM
AN
CE
UN
DE
R
CONT
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L
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D
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UP
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L
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m
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d
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y
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m
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s
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l
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t
I
s
1
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n
d
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t
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