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te
n
in
te
g
r
ated
in
to
h
ier
ar
ch
ical
co
n
tr
o
l
ar
ch
itectu
r
es,
w
h
er
e
lo
w
-
le
v
el
co
n
tr
o
l
en
s
u
r
es
r
e
al
-
ti
m
e
s
a
f
et
y
an
d
p
r
ec
is
io
n
,
w
h
ile
h
ig
h
er
-
lev
e
l
A
I
m
o
d
els
h
a
n
d
le
p
lan
n
i
n
g
,
le
ar
n
in
g
,
an
d
o
p
ti
m
izat
i
o
n
,
en
ab
lin
g
s
m
ar
t
r
o
b
o
ts
to
o
p
er
ate
au
to
n
o
m
o
u
s
l
y
w
i
th
i
n
f
o
u
r
th
i
n
d
u
s
tr
ial
r
ev
o
lu
t
io
n
(
I
n
d
u
s
tr
y
4
.
0
)
p
r
o
d
u
ctio
n
en
v
ir
o
n
m
en
ts
[
3
]
.
Un
d
er
s
ta
n
d
in
g
h
o
w
r
o
b
o
ts
f
u
n
c
tio
n
r
eq
u
ir
es
k
n
o
w
led
g
e
o
f
t
h
eir
f
u
n
d
a
m
e
n
tal
c
o
m
p
o
n
en
t
s
:
m
an
ip
u
lato
r
,
co
n
tr
o
ller
,
p
o
w
e
r
s
u
p
p
l
y
,
a
n
d
en
d
e
f
f
ec
to
r
[
4
]
.
T
h
e
m
an
ip
u
lato
r
en
ab
le
s
m
o
v
e
m
e
n
t
a
n
d
o
b
j
ec
t
m
an
ip
u
latio
n
,
w
h
ile
th
e
co
n
tr
o
ller
s
er
v
es
as
t
h
e
r
o
b
o
t
’
s
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it,
m
an
a
g
i
n
g
o
p
er
atio
n
al
tas
k
s
.
E
n
er
g
y
s
o
u
r
ce
s
f
o
r
r
o
b
o
ts
v
ar
y
,
in
c
lu
d
i
n
g
elec
tr
icit
y
,
h
y
d
r
au
lics
,
an
d
p
n
eu
m
atics
[
5
]
.
T
h
e
en
d
ef
f
ec
to
r
,
attac
h
ed
to
th
e
m
a
n
ip
u
lato
r
,
p
er
f
o
r
m
s
s
p
ec
i
f
ic
ta
s
k
s
.
R
o
b
o
ts
ar
e
class
i
f
ied
b
y
tec
h
n
o
lo
g
y
lev
el
:
lo
w
-
tech
,
m
id
-
tech
,
a
n
d
h
i
g
h
-
tec
h
.
L
o
w
-
tec
h
r
o
b
o
ts
ar
e
u
s
ed
f
o
r
s
i
m
p
le
task
s
,
w
h
ile
h
i
g
h
-
tech
r
o
b
o
ts
h
a
n
d
le
co
m
p
le
x
o
p
er
atio
n
s
w
it
h
s
u
p
er
io
r
ac
cu
r
ac
y
an
d
s
p
ee
d
[
6
]
.
R
o
b
o
t
g
e
o
m
e
tr
y
r
e
f
er
s
to
th
e
ir
p
h
y
s
ica
l
co
n
f
ig
u
r
atio
n
an
d
m
o
v
e
m
e
n
t
ca
p
ab
ilit
ies,
w
h
ic
h
ar
e
cr
u
cial
in
d
esig
n
.
T
h
e
co
m
p
lex
i
t
y
o
f
a
r
o
b
o
t
’
s
m
o
v
e
m
en
t
d
ep
en
d
s
o
n
its
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
DO
F),
w
h
ich
ca
n
b
e
lin
ea
r
,
r
o
tatio
n
al,
o
r
t
w
is
t
in
g
j
o
in
ts
.
Ke
y
s
p
ec
if
i
ca
tio
n
s
s
u
c
h
as
w
o
r
k
v
o
l
u
m
e,
p
r
ec
is
io
n
o
f
m
o
v
e
m
e
n
t,
an
d
w
ei
g
h
t
-
ca
r
r
y
in
g
ca
p
ac
i
t
y
also
i
n
f
l
u
e
n
ce
r
o
b
o
tic
p
er
f
o
r
m
an
ce
[
7
]
.
B
y
u
n
d
er
s
ta
n
d
in
g
th
e
s
e
asp
ec
ts
,
en
g
i
n
ee
r
s
ca
n
d
esi
g
n
a
n
d
d
ev
elo
p
r
o
b
o
ts
th
at
ef
f
icie
n
tl
y
co
m
p
le
te
r
ea
l
-
w
o
r
ld
tas
k
s
[
8
]
.
A
s
a
m
u
l
tid
is
cip
lin
ar
y
f
ield
,
r
o
b
o
tics
n
o
t
o
n
l
y
o
f
f
er
s
tec
h
n
o
lo
g
ical
i
n
n
o
v
atio
n
s
b
u
t
also
h
as
t
h
e
p
o
ten
tial
to
r
ev
o
l
u
tio
n
ize
h
o
w
h
u
m
a
n
s
w
o
r
k
an
d
i
n
ter
ac
t
w
it
h
m
ac
h
i
n
es
[
9
]
.
On
g
o
i
n
g
r
esear
ch
i
n
r
o
b
o
tics
p
r
o
m
is
e
s
f
u
r
th
er
in
n
o
v
atio
n
an
d
p
r
ac
tical
ap
p
licatio
n
s
in
th
e
f
u
t
u
r
e
[
1
0
]
.
T
h
is
s
tu
d
y
h
o
ld
s
s
ig
n
i
f
ica
n
t
i
m
p
o
r
tan
ce
in
r
o
b
o
tics
tech
n
o
lo
g
y
,
p
ar
ticu
lar
l
y
in
th
e
d
ev
elo
p
m
e
n
t
an
d
ap
p
licatio
n
o
f
r
o
b
o
ts
in
in
d
u
s
tr
ial
s
etti
n
g
s
[
1
1
]
.
T
h
e
ter
m
“
r
o
b
o
t
”
g
ain
ed
m
ain
s
tr
ea
m
r
ec
o
g
n
it
io
n
th
r
o
u
g
h
m
o
v
ies
li
k
e
Star
W
ar
s
,
h
ig
h
li
g
h
t
in
g
its
i
n
teg
r
atio
n
in
to
m
o
d
er
n
cu
l
tu
r
e
an
d
tec
h
n
o
lo
g
y
[
1
2
]
.
T
h
e
d
ef
in
i
tio
n
p
r
o
p
o
s
ed
b
y
[
1
3
]
,
d
escr
ib
in
g
r
o
b
o
ts
as
p
r
o
g
r
am
m
ab
le
m
ec
h
a
n
ical
s
y
s
te
m
s
w
ith
m
an
ip
u
lato
r
s
,
ex
p
an
d
s
th
e
u
n
d
er
s
ta
n
d
in
g
o
f
th
e
ir
f
u
n
c
tio
n
ali
t
y
an
d
la
y
s
t
h
e
g
r
o
u
n
d
w
o
r
k
f
o
r
f
u
r
t
h
e
r
au
to
m
atio
n
r
esear
ch
[
1
4
]
.
Sm
a
r
t
r
o
b
o
t
i
c
t
e
ch
n
o
l
o
g
i
es
a
r
e
a
k
ey
en
a
b
l
e
r
o
f
th
e
I
n
d
u
s
t
r
y
4
.
0
b
y
em
b
e
d
d
in
g
a
d
v
an
c
e
d
au
t
o
m
a
ti
o
n
,
c
o
n
n
e
c
ti
v
i
ty
,
an
d
in
t
el
l
ig
en
ce
i
n
t
o
m
an
u
f
ac
tu
r
in
g
p
r
o
c
e
s
s
e
s
.
E
q
u
i
p
p
e
d
w
ith
s
en
s
o
r
s
,
m
a
ch
in
e
l
e
a
r
n
in
g
a
l
g
o
r
ith
m
s
,
an
d
in
d
u
s
t
r
i
a
l
i
n
t
er
n
e
t
o
f
th
in
g
s
(
I
I
o
T
)
c
o
n
n
e
c
tiv
i
ty
,
s
m
a
r
t
r
o
b
o
t
s
c
o
l
l
e
ct
an
d
e
x
ch
an
g
e
r
e
a
l
-
t
im
e
p
r
o
d
u
c
t
i
o
n
d
a
t
a
,
f
o
r
m
in
g
th
e
b
a
c
k
b
o
n
e
o
f
cy
b
e
r
-
p
h
y
s
i
c
al
s
y
s
tem
s
.
T
h
is
r
e
a
l
-
t
im
e
d
a
ta
s
h
a
r
in
g
a
ll
o
w
s
s
e
am
le
s
s
i
n
te
g
r
a
t
i
o
n
w
ith
o
th
e
r
d
ig
it
a
l
tec
h
n
o
l
o
g
i
es
s
u
ch
as
cl
o
u
d
c
o
m
p
u
t
in
g
,
b
ig
d
a
ta
an
a
ly
ti
c
s
,
a
n
d
d
i
g
it
a
l
tw
in
s
s
o
t
h
at
p
r
o
d
u
c
t
i
o
n
l
in
es
c
an
s
e
lf
-
m
o
n
i
t
o
r
,
s
e
lf
-
o
p
t
im
iz
e
,
an
d
a
d
a
p
t
q
u
i
ck
ly
t
o
c
h
an
g
in
g
m
a
r
k
e
t
d
em
an
d
s
[
1
5
]
.
I
n
p
r
a
c
t
i
c
e
,
th
es
e
t
e
ch
n
o
l
o
g
i
es
s
u
p
p
o
r
t
m
as
s
cu
s
t
o
m
i
za
t
i
o
n
,
w
h
e
r
e
f
a
ct
o
r
i
es
c
an
ef
f
i
c
i
en
t
ly
p
r
o
d
u
c
e
h
ig
h
ly
i
n
d
iv
i
d
u
al
i
z
e
d
p
r
o
d
u
ct
s
w
i
th
o
u
t
s
a
c
r
if
i
c
in
g
s
p
e
e
d
o
r
c
o
s
t
.
T
h
ey
a
ls
o
im
p
r
o
v
e
o
p
e
r
at
i
o
n
a
l
ef
f
i
c
i
e
n
cy
b
y
en
a
b
li
n
g
p
r
e
d
i
c
t
iv
e
m
a
in
te
n
a
n
c
e
an
d
r
ed
u
c
in
g
u
n
p
l
an
n
e
d
d
o
w
n
t
im
e
th
r
o
u
g
h
A
I
-
d
r
iv
en
d
i
ag
n
o
s
t
i
cs
.
C
o
l
l
a
b
o
r
a
tiv
e
r
o
b
o
t
s
(
C
O
B
O
T
S
)
e
n
h
an
c
e
h
u
m
an
–
m
a
c
h
in
e
in
t
e
r
a
c
ti
o
n
,
a
ll
o
w
in
g
w
o
r
k
e
r
s
t
o
f
o
c
u
s
o
n
h
ig
h
e
r
-
v
a
lu
e
t
a
s
k
s
w
h
il
e
r
o
b
o
t
s
h
an
d
l
e
r
e
p
et
i
t
iv
e
o
r
h
a
za
r
d
o
u
s
o
p
e
r
a
t
i
o
n
s
,
th
e
r
e
b
y
b
o
o
s
ti
n
g
b
o
t
h
p
r
o
d
u
ct
iv
ity
a
n
d
w
o
r
k
p
l
ac
e
s
af
e
ty
.
Mo
r
eo
v
er
,
s
m
ar
t r
o
b
o
ts
g
en
er
ate
a
co
n
tin
u
o
u
s
f
ee
d
b
ac
k
lo
o
p
o
f
o
p
er
atio
n
al
d
ata,
p
r
o
v
id
in
g
d
ec
is
io
n
-
m
ak
er
s
w
it
h
ac
t
io
n
ab
le
i
n
s
i
g
h
t
s
th
a
t stre
n
g
th
e
n
s
u
p
p
l
y
ch
a
in
ag
ilit
y
a
n
d
en
ab
le
e
n
d
-
to
-
e
n
d
d
ig
italizatio
n
.
T
h
is
co
n
v
er
g
e
n
ce
o
f
au
to
m
atio
n
,
co
n
n
ec
ti
v
it
y
,
a
n
d
in
te
lli
g
en
t
an
al
y
tics
r
ep
r
ese
n
ts
th
e
e
s
s
e
n
ce
o
f
I
n
d
u
s
tr
y
4
.
0
,
d
r
iv
in
g
a
s
h
if
t
f
r
o
m
tr
ad
itio
n
al,
lin
ea
r
m
a
n
u
f
ac
t
u
r
i
n
g
to
f
l
ex
ib
le,
d
ata
-
d
r
iv
e
n
s
m
ar
t
f
ac
t
o
r
ies
th
at
ar
e
m
o
r
e
s
u
s
tai
n
ab
le,
r
esp
o
n
s
i
v
e,
an
d
g
lo
b
ally
co
m
p
etiti
v
e.
T
h
e
clas
s
if
icatio
n
o
f
r
o
b
o
ts
b
y
tech
n
o
lo
g
ical
le
v
el
r
a
n
g
i
n
g
f
r
o
m
lo
w
-
tec
h
to
h
i
g
h
-
tec
h
r
ev
ea
ls
s
u
b
s
ta
n
tial
d
if
f
er
e
n
ce
s
i
n
p
r
ec
is
io
n
an
d
c
y
cle
ti
m
e.
Fo
r
in
s
tan
ce
,
lo
w
-
tech
r
o
b
o
ts
ex
h
ib
it a
n
ac
c
u
r
ac
y
o
f
u
p
to
0
.
0
2
5
m
m
,
w
h
ile
h
i
g
h
-
te
ch
r
o
b
o
ts
ca
n
ac
h
ie
v
e
3
m
m
a
cc
u
r
ac
y
,
a
s
o
u
tl
in
ed
in
[
1
6
]
.
Un
d
er
s
tan
d
in
g
f
u
n
d
am
en
tal
r
o
b
o
t
c
o
m
p
o
n
e
n
ts
s
u
c
h
as
m
a
n
ip
u
lato
r
s
,
co
n
tr
o
ller
s
,
an
d
p
o
w
er
s
o
u
r
ce
s
is
cr
u
cial
f
o
r
g
r
asp
in
g
r
o
b
o
t
o
p
er
ati
o
n
s
,
as
e
x
p
lain
ed
i
n
[
1
7
]
.
A
d
d
itio
n
al
l
y
,
t
h
e
d
i
s
cu
s
s
io
n
o
n
r
o
b
o
t
g
eo
m
etr
y
,
in
cl
u
d
in
g
DOF
an
d
j
o
in
t
t
y
p
e
s
s
u
c
h
as
li
n
ea
r
,
r
o
tatio
n
al,
an
d
t
w
is
t
in
g
,
p
r
o
v
id
es
d
ee
p
er
in
s
ig
h
t
s
in
to
r
o
b
o
tic
m
o
tio
n
m
ec
h
a
n
ics
[
3
]
.
Oth
er
s
tu
d
ie
s
e
m
p
h
as
ize
h
o
w
DOF
co
n
f
i
g
u
r
atio
n
s
i
m
p
ac
t
m
o
v
e
m
en
t
f
le
x
ib
ilit
y
a
n
d
ad
ap
tab
ilit
y
in
i
n
d
u
s
tr
ial
a
p
p
licatio
n
s
[
1
8
]
.
Ov
er
all,
th
is
r
esear
c
h
co
n
tr
ib
u
tes
s
i
g
n
i
f
ica
n
tl
y
to
t
h
e
u
n
d
er
s
ta
n
d
in
g
o
f
f
u
n
d
a
m
e
n
ta
l
r
o
b
o
tics
p
r
in
cip
les
an
d
ap
p
licatio
n
s
.
B
y
r
ef
er
en
c
in
g
i
n
te
r
n
atio
n
al
s
tan
d
ar
d
s
s
u
c
h
as I
SO 8
3
7
3
:2
0
1
2
,
r
o
b
o
ti
cs c
o
n
ti
n
u
e
s
to
m
ee
t t
h
e
d
e
m
a
n
d
s
o
f
m
o
d
er
n
a
u
to
m
atio
n
.
2.
M
E
T
H
O
D
T
h
is
s
tu
d
y
e
m
p
lo
y
s
a
d
escr
ip
tiv
e
s
tu
d
y
d
esi
g
n
w
i
th
a
q
u
al
itativ
e
ap
p
r
o
ac
h
,
ai
m
in
g
to
e
x
p
lo
r
e
an
d
an
al
y
ze
th
e
c
h
ar
ac
ter
is
tic
s
a
n
d
f
u
n
d
a
m
en
tal
co
m
p
o
n
e
n
ts
o
f
r
o
b
o
ts
,
th
eir
tech
n
o
lo
g
i
ca
l
lev
els,
r
o
b
o
tic
g
eo
m
etr
y
,
an
d
tech
n
ical
s
p
ec
if
icatio
n
s
t
h
at
i
n
f
lu
e
n
ce
r
o
b
o
tic
p
er
f
o
r
m
a
n
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
Tech
n
o
lo
g
y
leve
ls
in
a
r
tifi
cia
l
in
tellig
en
ce
r
o
b
o
tics
a
n
d
in
d
u
s
tr
ia
l a
u
to
ma
tio
n
:
imp
a
cts
…
(
R
a
tn
a
Yu
lika
Go
)
177
2
.
1
.
Resea
rc
h
p
ro
ce
du
re
s
T
h
e
r
esear
ch
p
r
o
ce
s
s
b
eg
i
n
s
w
it
h
a
liter
at
u
r
e
r
ev
ie
w
,
w
h
e
r
e
in
f
o
r
m
atio
n
is
g
at
h
er
ed
f
r
o
m
b
o
o
k
s
,
j
o
u
r
n
als,
an
d
ar
ticle
s
r
elate
d
to
r
o
b
o
tics
to
d
ev
elo
p
a
f
o
u
n
d
atio
n
al
u
n
d
er
s
ta
n
d
i
n
g
o
f
k
e
y
co
n
ce
p
ts
a
n
d
ter
m
i
n
o
lo
g
y
.
Ne
x
t,
f
ield
o
b
s
er
v
atio
n
s
ar
e
co
n
d
u
cted
o
n
v
a
r
io
u
s
t
y
p
es
o
f
r
o
b
o
ts
u
s
ed
in
in
d
u
s
tr
ial
s
e
tti
n
g
s
,
f
o
cu
s
in
g
o
n
th
e
ir
o
p
er
atio
n
al
m
e
th
o
d
s
an
d
p
h
y
s
ical
co
n
f
i
g
u
r
atio
n
s
ac
r
o
s
s
d
if
f
er
en
t
en
v
ir
o
n
m
en
ts
.
Data
o
n
r
o
b
o
ts
w
ith
lo
w
,
m
ed
iu
m
,
an
d
h
ig
h
tec
h
n
o
lo
g
y
le
v
el
s
ar
e
co
llected
at
th
is
s
ta
g
e.
T
h
e
n
ex
t
p
h
ase
in
v
o
lv
e
s
i
n
t
er
v
ie
w
s
w
it
h
r
o
b
o
tics
ex
p
er
t
s
an
d
e
x
p
er
ien
ce
d
tec
h
n
ic
ia
n
s
to
g
ai
n
in
s
i
g
h
ts
in
to
r
o
b
o
tic
p
er
f
o
r
m
a
n
ce
an
d
ap
p
licatio
n
s
.
A
q
u
e
s
ti
o
n
n
air
e
i
s
d
esig
n
ed
to
o
b
tain
q
u
an
tita
tiv
e
d
ata
o
n
r
o
b
o
tic
ch
ar
ac
ter
is
tics
a
n
d
tec
h
n
ica
l
s
p
ec
i
f
icatio
n
s
f
r
o
m
p
r
o
f
es
s
io
n
al
s
i
n
t
h
e
f
ield
.
Me
a
n
w
h
ile,
a
n
i
n
ter
v
ie
w
g
u
id
e
i
s
u
s
ed
to
d
ir
ec
t
d
is
cu
s
s
io
n
s
w
it
h
e
x
p
er
ts
r
eg
ar
d
in
g
th
e
ap
p
licatio
n
a
n
d
ef
f
ec
ti
v
en
es
s
o
f
r
o
b
o
ts
i
n
in
d
u
s
tr
ial
en
v
ir
o
n
m
e
n
ts
.
2
.
2
.
Da
t
a
c
o
llect
io
n a
nd
a
na
ly
s
is
Qu
alitat
iv
e
d
ata:
i
n
f
o
r
m
a
tio
n
o
b
tain
ed
f
r
o
m
i
n
ter
v
ie
w
s
an
d
o
b
s
er
v
atio
n
s
is
a
n
al
y
ze
d
u
s
i
n
g
co
n
te
n
t
an
al
y
s
is
to
id
en
ti
f
y
r
ec
u
r
r
i
n
g
t
h
e
m
e
s
a
n
d
p
atter
n
s
r
elat
ed
to
r
o
b
o
tic
ch
ar
ac
ter
is
tics
an
d
p
er
f
o
r
m
a
n
ce
.
Qu
a
n
titati
v
e
d
ata:
d
ata
co
llected
th
r
o
u
g
h
q
u
est
io
n
n
air
es
ar
e
p
r
o
ce
s
s
ed
u
s
in
g
d
escr
ip
tiv
e
s
tatis
tica
l
an
al
y
s
i
s
,
illu
s
tr
atin
g
t
h
e
f
r
eq
u
en
c
y
,
av
e
r
ag
es,
an
d
d
is
tr
ib
u
tio
n
o
f
tech
n
o
lo
g
ical
c
h
ar
ac
ter
is
tic
s
s
u
ch
as
ac
cu
r
ac
y
lev
el
s
,
c
y
cle
ti
m
e,
an
d
lo
ad
ca
p
ac
it
y
.
T
o
en
s
u
r
e
d
ata
co
n
s
is
ten
c
y
an
d
ac
cu
r
ac
y
,
tr
ian
g
u
latio
n
o
f
s
o
u
r
ce
s
is
ap
p
li
ed
b
y
co
m
p
ar
i
n
g
d
ata
f
r
o
m
m
u
ltip
le
s
o
u
r
ce
s
liter
at
u
r
e,
in
ter
v
ie
w
s
,
a
n
d
o
b
s
er
v
atio
n
s
.
T
h
e
r
esear
ch
f
o
llo
w
s
a
s
tr
u
c
tu
r
ed
ch
r
o
n
o
lo
g
ica
l
p
r
o
ce
s
s
,
s
tar
tin
g
f
r
o
m
d
ata
co
llectio
n
th
r
o
u
g
h
liter
at
u
r
e
r
ev
ie
w
,
f
o
llo
w
ed
b
y
f
ie
ld
o
b
s
er
v
atio
n
s
,
ex
p
er
t
in
ter
v
ie
w
s
,
d
ata
p
r
o
ce
s
s
in
g
an
d
an
al
y
s
is
,
an
d
f
in
a
ll
y
,
t
h
e
co
m
p
ilatio
n
o
f
r
esear
ch
f
i
n
d
in
g
s
.
2
.
3
.
K
ey
co
ns
idera
t
io
ns
in ro
bo
t
ics dev
elo
p
m
e
nt
I
n
m
a
n
ag
i
n
g
an
d
ad
v
a
n
cin
g
r
o
b
o
tics
,
it
is
cr
u
cial
to
u
n
d
er
s
tan
d
class
if
ica
tio
n
cr
iter
ia
b
ased
o
n
f
u
n
ctio
n
a
n
d
p
h
y
s
ical
f
o
r
m
,
as
w
ell
a
s
t
h
e
i
m
p
ac
t
o
f
ar
tif
icial
in
te
lli
g
en
ce
ad
v
an
c
e
m
en
ts
o
n
r
o
b
o
tic
class
i
f
icatio
n
s
.
A
d
d
itio
n
al
l
y
,
ef
f
ec
tiv
e
r
o
b
o
tic
m
a
in
te
n
a
n
c
e,
w
h
et
h
er
th
r
o
u
g
h
p
r
ev
en
ti
v
e
m
ain
ten
a
n
ce
o
r
co
n
d
itio
n
-
b
ased
m
ai
n
ten
a
n
ce
,
is
cr
u
cial
f
o
r
s
u
s
tai
n
in
g
o
p
tim
a
l
p
er
f
o
r
m
an
ce
a
n
d
ad
d
r
ess
in
g
tec
h
n
ical
ch
alle
n
g
e
s
d
u
r
in
g
o
p
er
atio
n
.
T
h
e
p
r
im
ar
y
ad
v
a
n
tag
e
s
o
f
t
h
is
ap
p
r
o
ac
h
i
n
cl
u
d
e
f
le
x
ib
il
it
y
,
r
is
k
m
a
n
ag
e
m
e
n
t,
an
d
o
p
er
atio
n
al
ef
f
icien
c
y
,
e
n
s
u
r
i
n
g
r
o
b
o
ts
ar
e
ef
f
ec
ti
v
el
y
u
tili
ze
d
ac
r
o
s
s
v
ar
io
u
s
i
n
d
u
s
tr
ies.
B
y
f
o
llo
w
in
g
t
h
is
m
eth
o
d
o
lo
g
y
,
th
e
s
t
u
d
y
ai
m
s
to
p
r
o
v
id
e
a
co
m
p
r
e
h
en
s
iv
e
u
n
d
er
s
ta
n
d
i
n
g
o
f
r
o
b
o
tics
tech
n
o
lo
g
y
,
its
c
h
ar
ac
ter
is
tic
s
,
an
d
ap
p
licatio
n
s
in
d
i
f
f
er
en
t i
n
d
u
s
t
r
ial
s
ec
to
r
s
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
B
a
s
ic
co
m
po
nents o
f
ro
bo
t
s
R
o
b
o
ts
ar
e
m
ad
e
u
p
o
f
s
ev
er
al
co
r
e
c
o
m
p
o
n
e
n
ts
t
h
at
w
o
r
k
to
g
eth
er
to
p
er
f
o
r
m
v
ar
io
u
s
t
ask
s
.
T
h
e
m
an
ip
u
lato
r
is
th
e
ar
m
-
lik
e
s
tr
u
ctu
r
e
o
f
t
h
e
r
o
b
o
t,
co
m
p
o
s
ed
o
f
j
o
in
ts
an
d
lin
k
s
th
at
allo
w
th
e
r
o
b
o
t
to
m
o
v
e.
I
t
in
clu
d
es
t
h
e
ap
p
en
d
ag
e
f
o
r
m
o
v
e
m
e
n
t
an
d
t
h
e
b
ase
th
at
p
r
o
v
id
es
s
tab
ilit
y
.
T
h
e
m
an
ip
u
l
ato
r
is
r
esp
o
n
s
ib
le
f
o
r
ca
r
r
y
in
g
o
u
t
t
h
e
r
o
b
o
t
’
s
m
ai
n
f
u
n
ctio
n
s
,
w
h
et
h
er
it
’
s
l
if
ti
n
g
,
p
lacin
g
,
o
r
m
o
v
i
n
g
o
b
jects.
T
h
e
co
n
tr
o
ller
,
o
f
ten
r
ef
er
r
ed
to
as
th
e
r
o
b
o
t
’
s
b
r
ain
,
r
eg
u
la
tes
th
e
r
o
b
o
t
’
s
o
p
er
atio
n
s
.
I
t
co
n
tr
o
ls
ele
m
e
n
ts
li
k
e
th
e
m
icr
o
p
r
o
ce
s
s
o
r
,
m
e
m
o
r
y
(
r
an
d
o
m
ac
c
es
s
m
e
m
o
r
y
(
R
AM
)
,
r
ea
d
o
n
ly
m
e
m
o
r
y
(
R
OM
)
)
,
an
d
s
en
s
o
r
s
,
en
s
u
r
i
n
g
th
at
th
e
r
o
b
o
t
’
s
ac
tio
n
s
alig
n
w
it
h
t
h
e
in
te
n
d
ed
p
u
r
p
o
s
e.
T
h
e
p
o
w
er
s
u
p
p
l
y
p
r
o
v
id
es
th
e
n
ec
ess
ar
y
e
n
er
g
y
f
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3
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2
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ty
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tech
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s
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s
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d
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(
SA
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d
Or
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h
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tech
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tr
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r
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p
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s
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h
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s
d
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it
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ig
h
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ts
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s
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t
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t
h
e
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n
d
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m
an
u
f
ac
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m
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p
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s
ex
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lo
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v
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d
tech
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to
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m
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r
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e
p
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d
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it
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tiv
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e
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th
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I
n
d
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s
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4
.
0
.
3
.
3
.
Ro
bo
t
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e
o
m
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ry
T
h
e
g
eo
m
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y
o
f
a
r
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b
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t
is
cr
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cial
f
o
r
d
eter
m
in
in
g
its
m
o
v
e
m
en
t
an
d
th
e
tas
k
s
it
ca
n
p
er
f
o
r
m
.
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h
is
in
v
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l
v
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t
h
e
DOF,
w
h
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h
r
ef
e
r
to
th
e
n
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m
b
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n
d
ep
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d
en
t
ax
e
s
a
r
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b
o
t
ca
n
m
o
v
e
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n
g
.
Fo
r
in
s
tan
ce
,
a
r
o
b
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t
w
it
h
s
ix
D
OF
ca
n
m
o
v
e
alo
n
g
s
ix
a
x
es,
allo
w
i
n
g
f
o
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co
m
p
le
x
m
o
v
e
m
e
n
ts
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n
t
h
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d
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m
en
s
io
n
al
s
p
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e.
T
h
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t
y
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i
n
clu
d
e
r
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tatio
n
an
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lex
in
g
m
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m
e
n
t
s
at
v
ar
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u
s
j
o
in
ts
.
T
h
e
r
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’
s
j
o
in
t
t
y
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f
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th
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af
f
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t
its
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p
ab
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C
o
m
m
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j
o
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ts
in
cl
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d
e
lin
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r
j
o
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ts
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t)
,
r
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al
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o
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ts
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ts
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,
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d
t
w
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s
ti
n
g
j
o
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f
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s
p
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r
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tatio
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m
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.
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e
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k
s
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r
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n
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ti
n
g
t
h
e
j
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,
d
is
tr
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n
d
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Fi
g
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Fig
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I
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6
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T
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24
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No
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1
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Feb
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20
26
:
1
75
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83
180
3
.
5
.
T
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ased
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3
.
6
.
Dis
cus
s
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T
h
e
en
d
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f
ec
to
r
p
la
y
s
a
cr
u
c
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r
o
le
in
r
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b
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as
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is
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e
to
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l
attac
h
ed
to
th
e
en
d
o
f
th
e
m
an
ip
u
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r
to
p
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f
o
r
m
s
p
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f
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tas
k
s
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s
u
c
h
a
s
li
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g
r
ip
p
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g
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o
r
ass
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m
b
li
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b
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h
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f
t
h
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n
d
ef
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ec
to
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is
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ta
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t
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ize
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[
2
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]
.
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b
asic
co
m
p
o
n
e
n
ts
,
tec
h
n
o
lo
g
y
le
v
els,
g
eo
m
etr
y
,
tech
n
ical
s
p
ec
i
f
icatio
n
s
,
en
d
ef
f
ec
to
r
,
an
d
co
n
tr
o
l s
y
s
te
m
s
.
T
h
e
p
r
im
ar
y
r
o
b
o
t c
o
m
p
o
n
e
n
t
s
,
in
cl
u
d
in
g
t
h
e
m
a
n
ip
u
lato
r
,
co
n
tr
o
ller
,
p
o
w
er
s
u
p
p
l
y
,
an
d
e
n
d
ef
f
ec
to
r
,
f
u
n
ctio
n
to
g
et
h
er
s
ea
m
les
s
l
y
.
T
h
e
m
a
n
ip
u
lato
r
m
o
v
e
s
d
if
f
er
en
t
p
ar
ts
o
f
t
h
e
r
o
b
o
t,
w
h
i
le
th
e
co
n
tr
o
ller
ac
ts
as
th
e
b
r
ain
,
r
e
g
u
la
tin
g
s
e
n
s
o
r
s
an
d
ac
tu
ato
r
s
.
T
h
e
p
o
w
er
s
u
p
p
l
y
p
r
o
v
id
es
th
e
en
er
g
y
r
eq
u
ir
ed
f
o
r
o
p
er
atio
n
,
an
d
th
e
en
d
ef
f
ec
to
r
p
er
f
o
r
m
s
t
h
e
tas
k
-
s
p
ec
if
ic
f
u
n
ctio
n
s
,
s
u
ch
a
s
g
r
ip
p
in
g
o
r
cu
ttin
g
o
b
j
ec
ts
[
2
3
]
.
I
n
ter
m
s
o
f
r
o
b
o
t
tech
n
o
lo
g
y
,
t
h
e
s
tu
d
y
cla
s
s
i
f
ie
s
r
o
b
o
ts
i
n
to
th
r
ee
ca
teg
o
r
ies:
lo
w
-
t
ec
h
,
m
id
-
tec
h
,
a
n
d
h
ig
h
-
te
c
h
,
b
ased
o
n
o
p
er
atio
n
al
ca
p
ab
ilit
ies
an
d
tas
k
co
m
p
lex
i
t
y
.
L
o
w
-
tech
r
o
b
o
ts
ar
e
t
y
p
icall
y
u
s
ed
f
o
r
s
i
m
p
le
tas
k
s
,
s
u
c
h
as
m
ac
h
i
n
e
p
lace
m
en
t,
w
h
ile
h
ig
h
-
tec
h
r
o
b
o
ts
ar
e
d
esig
n
ed
f
o
r
co
m
p
lex
ta
s
k
s
r
eq
u
ir
i
n
g
p
r
ec
is
io
n
an
d
h
ig
h
er
p
o
w
er
.
Hig
h
-
tech
r
o
b
o
ts
u
t
ilize
v
ar
io
u
s
ac
t
u
ato
r
s
,
s
u
ch
a
s
elec
t
r
ic,
h
y
d
r
au
lic,
a
n
d
p
n
eu
m
atic
m
o
to
r
s
,
d
ep
en
d
in
g
o
n
p
er
f
o
r
m
an
ce
n
ee
d
s
,
as n
o
te
d
in
ea
r
lier
r
esear
ch
[
2
4
]
.
T
h
e
g
eo
m
etr
y
o
f
r
o
b
o
ts
,
w
h
ic
h
in
cl
u
d
es
th
e
DOF
an
d
j
o
in
t
t
y
p
e
s
,
p
lay
s
a
cr
itical
r
o
le
in
d
eter
m
i
n
in
g
th
e
r
o
b
o
t
’
s
p
er
f
o
r
m
a
n
ce
a
n
d
f
l
ex
ib
ilit
y
.
T
h
e
co
n
f
i
g
u
r
atio
n
o
f
th
e
r
o
b
o
t,
in
cl
u
d
i
n
g
th
e
n
u
m
b
er
o
f
DO
F
a
n
d
th
e
t
y
p
e
o
f
j
o
in
t
s
,
af
f
ec
t
s
it
s
ab
ili
t
y
to
ad
ap
t
to
v
ar
io
u
s
in
d
u
s
tr
i
al
ap
p
licatio
n
s
.
S
tu
d
ie
s
h
a
v
e
s
h
o
w
n
t
h
at
o
p
ti
m
a
l
g
eo
m
etr
ic
ar
r
an
g
e
m
en
t
s
ca
n
e
n
h
a
n
ce
r
o
b
o
t
ef
f
icie
n
c
y
,
p
r
ec
i
s
io
n
,
an
d
ad
ap
tab
ilit
y
i
n
d
y
n
a
m
ic
en
v
ir
o
n
m
e
n
ts
.
T
h
is
f
le
x
ib
ilit
y
i
s
esp
ec
iall
y
i
m
p
o
r
ta
n
t
f
o
r
in
d
u
s
tr
ial
ap
p
lic
atio
n
s
t
h
at
r
eq
u
ir
e
q
u
ic
k
ad
ap
tatio
n
to
c
h
an
g
es
i
n
th
e
w
o
r
k
i
n
g
e
n
v
ir
o
n
m
e
n
t
[
2
5
]
.
T
ec
h
n
ical
s
p
ec
if
icat
io
n
s
,
s
u
c
h
as
w
o
r
k
v
o
lu
m
e,
p
r
ec
i
s
io
n
o
f
m
o
v
e
m
en
t,
w
ei
g
h
t
-
ca
r
r
y
i
n
g
ca
p
ac
it
y
,
an
d
d
r
iv
e
s
y
s
te
m
s
,
also
in
f
l
u
e
n
ce
r
o
b
o
t
p
er
f
o
r
m
a
n
ce
.
T
h
ese
s
p
ec
if
icatio
n
s
m
u
s
t
b
e
alig
n
ed
w
it
h
t
h
e
r
eq
u
ir
e
m
en
t
s
o
f
t
h
e
ta
s
k
an
d
i
n
d
u
s
tr
ial
ap
p
licatio
n
to
en
s
u
r
e
o
p
ti
m
a
l
f
u
n
c
tio
n
i
n
g
.
Fo
r
in
s
ta
n
ce
,
t
h
e
c
h
o
ice
o
f
d
r
iv
e
s
y
s
te
m
w
h
et
h
er
h
y
d
r
au
lic,
p
n
e
u
m
a
tic,
o
r
elec
tr
ic
s
h
o
u
ld
b
e
b
ased
o
n
th
e
s
p
ee
d
,
p
r
ec
is
io
n
,
an
d
s
af
et
y
r
eq
u
ir
ed
f
o
r
a
p
ar
ticu
lar
task
[
2
6
]
.
T
h
e
en
d
ef
f
ec
to
r
an
d
t
h
e
r
o
b
o
t
’
s
co
n
tr
o
l
s
y
s
te
m
ar
e
k
e
y
to
i
m
p
r
o
v
i
n
g
its
p
er
f
o
r
m
an
ce
in
s
p
ec
if
ic
tas
k
s
.
T
h
e
c
h
o
ice
o
f
g
r
ip
p
er
s
an
d
to
o
lin
g
af
f
ec
ts
t
h
e
r
o
b
o
t
’
s
ef
f
ec
tiv
e
n
e
s
s
i
n
li
f
ti
n
g
,
g
r
ip
p
in
g
,
o
r
m
a
n
ip
u
la
tin
g
o
b
j
ec
ts
.
Fo
r
ex
a
m
p
le,
u
s
i
n
g
th
e
ap
p
r
o
p
r
iate
g
r
ip
p
er
en
s
u
r
e
s
th
at
th
e
r
o
b
o
t
ca
n
h
an
d
le
d
elica
te
o
r
h
ea
v
y
o
b
j
ec
ts
ac
co
r
d
in
g
to
th
e
task
’
s
n
ee
d
s
.
C
o
n
tr
o
l
s
y
s
te
m
s
lik
e
p
o
in
t
-
to
-
p
o
in
t
an
d
co
n
tin
u
o
u
s
p
ath
co
n
tr
o
l
en
s
u
r
e
t
h
at
t
h
e
r
o
b
o
t
m
o
v
es
ef
f
icie
n
tl
y
a
n
d
ac
cu
r
ately
,
d
ep
en
d
in
g
o
n
th
e
co
m
p
le
x
it
y
o
f
t
h
e
tas
k
[
2
7
]
,
[
2
8
]
.
T
h
e
ad
o
p
tio
n
o
f
s
m
ar
t
r
o
b
o
ts
in
f
ac
to
r
y
o
p
er
atio
n
s
b
r
in
g
s
clea
r
p
r
o
d
u
ctiv
it
y
g
ain
s
b
u
t
als
o
in
tr
o
d
u
ce
s
n
o
tab
le
tec
h
n
ica
l
an
d
s
ec
u
r
it
y
c
h
alle
n
g
es.
O
n
th
e
tec
h
n
ical
s
id
e,
s
y
s
te
m
f
ail
u
r
es
ca
u
s
ed
b
y
h
ar
d
w
ar
e
m
al
f
u
n
ctio
n
s
,
s
e
n
s
o
r
er
r
o
r
s
,
o
r
s
o
f
t
w
ar
e
b
u
g
s
ca
n
d
is
r
u
p
t
p
r
o
d
u
ctio
n
,
w
h
il
e
th
e
co
m
p
le
x
it
y
o
f
in
te
g
r
atin
g
r
o
b
o
ts
w
it
h
leg
ac
y
s
y
s
te
m
s
m
a
y
cr
ea
te
d
ata
b
o
ttl
en
ec
k
s
o
r
u
n
p
r
ed
ictab
le
b
eh
av
io
r
[
1
8
]
.
T
h
ese
ad
v
an
ce
d
m
ac
h
i
n
es
al
s
o
r
eq
u
i
r
e
r
eg
u
lar
ca
lib
r
atio
n
an
d
s
o
f
t
w
ar
e
u
p
d
ates
;
n
e
g
lecti
n
g
m
ai
n
ten
an
ce
ca
n
lead
to
r
ed
u
ce
d
ac
cu
r
ac
y
o
r
e
v
en
s
a
f
e
t
y
h
az
ar
d
s
.
B
ec
au
s
e
m
a
n
y
s
m
ar
t
r
o
b
o
ts
r
ely
o
n
r
ea
l
-
ti
m
e
co
n
n
ec
t
iv
i
t
y
,
n
et
w
o
r
k
o
u
tag
e
s
o
r
laten
c
y
ca
n
f
u
r
t
h
er
i
m
p
air
p
er
f
o
r
m
a
n
ce
[
2
1
]
.
Fro
m
a
c
y
b
er
s
ec
u
r
it
y
p
er
s
p
ec
tiv
e,
n
et
w
o
r
k
-
co
n
n
ec
ted
r
o
b
o
ts
ar
e
p
o
ten
tial
en
tr
y
p
o
i
n
ts
f
o
r
h
ac
k
er
s
,
ex
p
o
s
i
n
g
f
ac
t
o
r
ies
to
r
is
k
s
s
u
c
h
as
u
n
a
u
t
h
o
r
ized
ac
ce
s
s
,
d
at
a
b
r
ea
ch
es,
th
e
f
t
o
f
i
n
tellec
tu
al
p
r
o
p
er
ty
,
o
r
r
an
s
o
m
w
ar
e
att
ac
k
s
.
S
u
p
p
l
y
ch
ai
n
v
u
ln
er
ab
i
liti
es
i
n
t
h
ir
d
-
p
ar
t
y
s
o
f
t
w
ar
e
o
r
f
ir
m
w
ar
e
also
h
eig
h
ten
t
h
e
t
h
r
ea
t
[
2
9
]
.
Hu
m
an
f
ac
to
r
s
co
m
p
o
u
n
d
t
h
es
e
r
is
k
s
:
in
s
u
f
f
icie
n
t
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d
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u
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181
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[
1
5
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.
4.
CO
NCLU
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F
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AU
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DATA AV
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Data
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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6930
T
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elec
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tr
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Vo
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24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
1
75
-
1
83
182
RE
F
E
R
E
NC
E
S
[
1
]
A
.
R
a
h
ma
n
e
t
a
l
.
,
“
D
i
st
B
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D
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n
d
u
st
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y
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.
[
3
]
J.
J
.
C
h
o
i
,
Y
.
K
i
m,
a
n
d
S
.
S
.
K
w
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,
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[
4
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A
.
A
b
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b
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f
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d
u
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y
4
.
0
:
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h
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l
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g
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s,
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p
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s,
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si
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s,
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[
5
]
A
.
Jab
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M
.
A
.
Jams
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