I
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Vo
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,
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1
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Ma
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ch
20
2
6
,
p
p
.
43
~
51
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DOI
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1
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pp
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43
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r
f
r
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[
1
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,
jo
in
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f
lex
ib
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[
2
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,
an
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o
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p
lex
m
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s
tr
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[
3
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,
[
4
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M
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Ho
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[
5
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.
I
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th
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d
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its
its
r
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p
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r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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J
R
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&
A
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to
m
,
Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
43
-
51
44
d
u
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to
f
r
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elasticity
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wh
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tab
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C
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MPC
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f
ten
f
ail
to
u
p
d
ate
th
ese
m
ap
p
in
g
s
ef
f
icien
tly
,
lead
i
n
g
to
d
eg
r
ad
ed
p
e
r
f
o
r
m
an
ce
w
h
en
co
n
d
itio
n
s
s
h
if
t.
Me
th
o
d
s
lik
e
ad
ap
tiv
e
g
ain
ad
ju
s
tm
en
t
f
o
r
tim
e
-
d
elay
co
n
tr
o
l
[
1
1
]
an
d
n
e
u
r
al
n
etwo
r
k
-
b
ased
lear
n
in
g
[
9
]
h
av
e
b
ee
n
e
x
p
lo
r
ed
to
d
ea
l
with
th
ese
d
y
n
am
ic
u
n
ce
r
tain
ties
.
Ach
iev
in
g
h
ig
h
p
r
ec
is
io
n
in
r
ea
l
-
tim
e
co
n
tr
o
l
also
r
eq
u
ir
es
m
an
ag
i
n
g
late
n
cy
a
n
d
s
y
n
ch
r
o
n
izatio
n
p
r
o
b
lem
s
.
Sen
s
o
r
a
n
d
ac
tu
ato
r
d
elay
s
ca
n
ea
s
ily
ca
u
s
e
o
u
t
-
of
-
s
y
n
c
jo
in
t
m
o
v
em
e
n
ts
,
wh
i
ch
af
f
ec
t
s
tab
ilit
y
,
esp
ec
ially
in
d
is
tr
ib
u
ted
co
n
tr
o
l
s
tr
u
ctu
r
es
[
1
2
]
,
[
1
3
]
.
T
o
co
u
n
ter
ac
t
th
ese
p
r
o
b
lem
s
,
r
esear
ch
er
s
h
av
e
p
r
o
p
o
s
ed
ev
en
t
-
t
r
ig
g
er
e
d
an
d
d
y
n
am
ic
ev
en
t
-
tr
i
g
g
er
ed
co
n
tr
o
l
s
tr
ateg
ies
[
1
3
]
,
[
1
4
]
th
at
r
ed
u
ce
u
n
n
ec
ess
ar
y
d
ata
tr
an
s
m
is
s
io
n
wh
ile
m
ain
t
ain
in
g
s
y
n
c
h
r
o
n
izatio
n
b
etwe
en
jo
in
ts
.
W
h
en
wo
r
k
i
n
g
with
m
u
lti
-
jo
in
t
r
o
b
o
ts
,
co
o
r
d
in
atin
g
m
o
v
e
m
en
t
ac
r
o
s
s
all
ac
tu
ato
r
s
b
ec
o
m
es
an
o
th
er
ch
allen
g
e.
Dif
f
er
en
ce
s
in
m
ec
h
an
ical
p
r
o
p
er
ties
,
e
x
ter
n
al
lo
a
d
in
g
,
o
r
tim
in
g
m
is
m
atch
es
ca
n
d
is
r
u
p
t
co
o
r
d
in
atio
n
[
1
5
]
,
[
1
6
]
.
C
o
o
p
er
ativ
e
co
n
tr
o
l
s
tr
ateg
ies
with
o
p
tim
ized
co
e
f
f
icien
ts
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
to
im
p
r
o
v
e
c
o
o
r
d
in
atio
n
an
d
ac
h
iev
e
s
m
o
o
t
h
,
ac
cu
r
ate
m
o
tio
n
in
r
ea
l
tim
e.
No
n
lin
ea
r
ity
an
d
u
n
ce
r
tain
t
ies,
in
clu
d
in
g
ex
ter
n
al
d
is
tu
r
b
an
ce
s
an
d
s
en
s
o
r
er
r
o
r
s
,
f
u
r
th
er
co
m
p
licate
c
o
n
tr
o
l
[
1
7
]
.
R
o
b
u
s
t
m
eth
o
d
s
s
u
ch
as
d
is
co
n
tin
u
o
u
s
co
n
tr
o
l
[
1
8
]
an
d
ad
ap
tiv
e
b
ac
k
s
tep
p
in
g
s
lid
in
g
-
m
o
d
e
co
n
tr
o
l
[
1
9
]
en
h
an
ce
r
esil
ien
ce
t
h
r
o
u
g
h
co
m
p
e
n
s
ato
r
s
an
d
o
b
s
er
v
er
s
th
at
s
u
p
p
r
ess
d
is
tu
r
b
an
ce
s
.
R
ec
en
t
s
tu
d
ies
h
av
e
also
lo
o
k
ed
at
r
e
d
u
cin
g
th
e
ef
f
ec
ts
o
f
b
ac
k
lash
a
n
d
ex
te
r
n
al
to
r
q
u
e
in
d
u
al
-
m
o
to
r
r
o
b
o
tic
jo
in
ts
.
On
e
a
p
p
r
o
ac
h
,
k
n
o
wn
as
lin
ea
r
a
ctiv
e
d
is
tu
r
b
an
ce
r
ejec
tio
n
c
o
n
tr
o
l,
h
as
s
h
o
wn
im
p
r
o
v
em
e
n
ts
in
to
r
q
u
e
co
m
p
en
s
atio
n
a
n
d
p
r
ec
is
io
n
[
2
0
]
.
Similar
ly
,
in
ca
b
le
-
d
r
i
v
en
p
ar
allel
r
o
b
o
ts
,
r
ed
u
n
d
an
t
ac
tu
atio
n
co
m
p
lic
ates
tr
ajec
to
r
y
tr
ac
k
in
g
.
A
tr
i
-
s
p
ac
e
co
n
tr
o
l
s
ch
em
e
c
o
m
b
in
in
g
r
ea
ctiv
e
an
d
iter
ativ
e
lear
n
in
g
co
n
t
r
o
l
h
as
b
ee
n
d
ev
elo
p
ed
t
o
o
v
er
co
m
e
th
is
lim
itatio
n
[
2
1
]
.
Desp
it
e
p
r
o
g
r
ess
in
th
ese
ar
ea
s
,
th
er
e
r
em
ain
s
a
n
ee
d
f
o
r
s
im
p
ler
an
d
m
o
r
e
ad
ap
tab
le
f
r
am
ewo
r
k
s
th
at
im
p
r
o
v
e
th
e
co
n
s
is
ten
cy
o
f
s
ig
n
al
tr
an
s
m
is
s
io
n
an
d
ac
tu
a
tio
n
m
ap
p
in
g
b
etwe
en
th
e
c
o
n
tr
o
l
alg
o
r
ith
m
an
d
th
e
p
h
y
s
i
ca
l
ac
tu
ato
r
d
r
iv
e
r
.
T
h
is
s
tu
d
y
in
tr
o
d
u
ce
s
a
C
SR
AM
f
r
am
ewo
r
k
t
o
m
ee
t
th
at
n
ee
d
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
s
im
p
lifie
s
s
ig
n
al
p
r
o
ce
s
s
in
g
wh
ile
m
ain
tain
i
n
g
ac
cu
r
ac
y
a
n
d
s
y
n
c
h
r
o
n
izatio
n
.
T
h
e
m
eth
o
d
is
v
alid
ate
d
o
n
s
elec
ted
leg
jo
in
ts
o
f
a
Hex
aq
u
a
d
r
o
b
o
t
[
2
2
]
,
s
h
o
wi
n
g
th
at
C
SR
AM
ca
n
ef
f
ec
tiv
e
ly
o
p
tim
ize
co
n
tr
o
l
s
ig
n
al
f
lo
w
an
d
im
p
r
o
v
e
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
.
T
h
e
p
a
p
er
is
o
r
g
a
n
ized
as
f
o
llo
ws:
s
ec
tio
n
2
p
r
esen
ts
th
e
co
n
tr
o
l
d
esig
n
an
d
p
r
o
p
o
s
ed
C
SR
A
M
m
eth
o
d
o
l
o
g
y
,
s
ec
tio
n
3
d
escr
ib
es
th
e
ex
p
er
im
en
tal
v
ali
d
atio
n
an
d
p
er
f
o
r
m
an
ce
a
n
a
ly
s
is
o
f
C
S
R
AM
in
teg
r
ated
with
an
an
ti
-
win
d
u
p
PI
co
n
tr
o
ller
o
n
s
elec
ted
Hex
aq
u
ad
jo
i
n
ts
,
an
d
s
ec
tio
n
4
c
o
n
clu
d
es
th
e
s
tu
d
y
with
k
ey
p
er
f
o
r
m
a
n
ce
in
s
ig
h
ts
an
d
p
r
ac
tical
im
p
licatio
n
s
f
o
r
r
ea
l
-
tim
e
r
o
b
o
tic
co
n
tr
o
l.
2.
CO
NT
RO
L
L
E
R
DE
SI
G
N
T
h
e
co
n
tr
o
l
o
f
r
o
b
o
tic
jo
in
ts
,
wh
eth
er
th
r
o
u
g
h
in
d
ir
ec
t
ac
tu
atio
n
(
lin
ea
r
ac
tu
ato
r
s
d
r
iv
i
n
g
r
o
tar
y
jo
in
ts
)
o
r
d
ir
ec
t
ac
t
u
atio
n
(
m
o
to
r
s
co
u
p
led
d
ir
ec
tly
to
s
h
af
ts
)
,
in
v
o
lv
es
ch
allen
g
es
a
cr
o
s
s
h
ar
d
war
e
an
d
d
y
n
am
ic
d
o
m
ain
s
.
T
h
ese
ch
allen
g
es
in
clu
d
e
s
ig
n
al
co
m
p
atib
ilit
y
,
n
o
n
lin
ea
r
m
ap
p
in
g
,
laten
cy
,
s
y
n
ch
r
o
n
izatio
n
,
an
d
u
n
ce
r
tain
ty
.
B
o
th
ac
tu
atio
n
c
o
n
f
ig
u
r
at
io
n
s
r
eq
u
ir
e
r
o
b
u
s
t
co
n
tr
o
l
f
r
a
m
ewo
r
k
s
ca
p
ab
le
o
f
m
ain
tain
in
g
ac
cu
r
ate
an
d
s
tab
le
m
o
tio
n
u
n
d
er
v
ar
y
in
g
o
p
er
at
in
g
co
n
d
itio
n
s
.
2
.
1
.
P
r
o
blem
f
o
rm
ula
t
io
ns
Sig
n
al
co
m
p
atib
ilit
y
is
a
m
ajo
r
is
s
u
e
in
r
ea
l
-
tim
e
ap
p
li
ca
tio
n
s
.
Ma
n
y
ac
tu
ato
r
d
r
iv
e
r
s
y
s
tem
s
,
esp
ec
ially
lo
w
-
co
s
t
o
r
lo
w
-
s
p
ec
if
icatio
n
u
n
its
,
ca
n
n
o
t
p
r
o
ce
s
s
n
eg
ativ
e
co
n
tr
o
l
s
ig
n
als,
r
eq
u
ir
in
g
p
r
ep
r
o
ce
s
s
in
g
to
en
s
u
r
e
p
r
o
p
e
r
o
p
er
atio
n
.
T
h
e
co
n
tr
o
l
in
p
u
t,
,
f
r
o
m
a
clo
s
ed
-
l
o
o
p
c
o
n
tr
o
lle
r
(
e.
g
.
,
PID
)
m
u
s
t
s
atis
f
y
,
>
0
,
wh
ich
co
m
p
licate
s
th
e
lo
g
ical
m
ap
p
in
g
b
etwe
en
ac
tu
ato
r
p
o
les
(
ex
ten
d
/r
etr
ac
t
o
r
clo
ck
wis
e/co
u
n
ter
clo
ck
wis
e)
.
T
h
e
lo
g
ical
r
elatio
n
s
h
i
p
ca
n
b
e
ex
p
r
ess
ed
as f
o
llo
ws:
=
{
>
0
,
=
1
<
0
,
=
0
(
1
)
wh
er
e,
r
ep
r
esen
ts
th
e
ac
tu
at
o
r
p
o
le
s
tate.
T
h
is
r
ec
tific
atio
n
g
u
ar
an
tees
v
alid
co
m
m
a
n
d
s
f
o
r
d
r
i
v
er
s
u
n
a
b
le
to
h
an
d
le
b
i
p
o
lar
s
ig
n
als
[
2
3
]
,
[
2
4
]
.
Dy
n
am
ic
m
ap
p
i
n
g
co
m
p
lex
ity
b
ec
o
m
es
p
ar
ticu
lar
l
y
ev
id
e
n
t
in
r
o
b
o
ts
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
R
ea
l
-
time
co
n
tr
o
l sig
n
a
l rectifica
tio
n
a
n
d
a
ctu
a
tio
n
ma
p
p
in
g
fo
r
r
o
b
o
t jo
in
t c
o
n
tr
o
l
(
A
d
d
i
e
I
r
a
w
a
n
)
45
u
s
in
g
p
r
is
m
atic
lin
k
ag
es.
Fo
r
a
s
im
p
le
co
n
f
ig
u
r
atio
n
,
lin
k
d
is
p
lace
m
en
ts
,
1
an
d
2
,
co
r
r
esp
o
n
d
to
an
g
u
lar
r
o
tatio
n
s
2
an
d
3
as d
ep
icted
in
Fig
u
r
e
1
,
an
d
ca
n
b
e
r
ep
r
esen
te
d
as f
o
llo
ws:
=
{
2
+
3
,
1
+
2
→
+
2
−
3
,
1
+
2
→
−
(
2
)
T
h
is
r
elatio
n
illu
s
tr
ates
th
e
co
m
p
lex
ity
o
f
m
ai
n
tain
in
g
a
co
n
s
is
ten
t
m
ap
p
in
g
,
as
ev
en
s
m
all
er
r
o
r
s
ca
n
ca
u
s
e
in
s
tab
ilit
y
[
2
5
]
.
L
aten
cy
a
n
d
s
y
n
ch
r
o
n
izatio
n
also
p
lay
a
m
ajo
r
r
o
le
in
m
u
lti
-
jo
in
t
co
o
r
d
i
n
atio
n
.
A
tr
an
s
m
is
s
io
n
d
elay
,
,
lead
s
to
cu
m
u
lativ
e
er
r
o
r
ac
r
o
s
s
jo
in
ts
th
at
ca
n
b
e
e
x
p
r
ess
ed
as f
o
llo
w
s
:
=
∑
=
1
⋅
|
̇
|
(
3
)
wh
er
e
r
ep
r
esen
ts
-
jo
in
t
an
g
u
lar
v
elo
city
with
=
1
,
2
…
4
.
Su
ch
d
el
ay
s
d
eg
r
a
d
e
tr
ac
k
i
n
g
ac
c
u
r
ac
y
[
8
]
.
No
n
lin
ea
r
ities
s
u
ch
as f
r
ictio
n
,
b
ac
k
lash
,
an
d
co
m
p
lian
ce
f
u
r
th
er
d
is
to
r
t th
e
id
ea
l c
o
n
tr
o
l in
p
u
t a
s
f
o
llo
ws:
=
+
Δ
(
4
)
wh
er
e
Δ
r
ep
r
esen
ts
p
er
tu
r
b
ati
o
n
s
ca
u
s
ed
b
y
n
o
n
-
id
ea
l
s
y
s
tem
d
y
n
am
ics.
An
o
th
er
lim
it
atio
n
in
ex
is
tin
g
co
n
v
er
ter
s
,
s
u
ch
as
th
e
c
o
n
tr
o
l
in
p
u
t
co
n
v
er
ter
(
C
iC
)
[
2
6
]
,
i
s
th
eir
in
ab
ilit
y
to
d
etec
t
m
o
ti
o
n
d
ir
ec
tio
n
(
r
is
in
g
o
r
d
o
wn
s
tr
ea
m
)
.
T
h
is
lim
itatio
n
r
esu
lts
in
in
ef
f
icien
cies
d
u
r
i
n
g
tr
a
n
s
itio
n
s
.
Mo
tio
n
d
ir
ec
tio
n
ca
n
b
e
id
en
tifie
d
f
r
o
m
th
e
d
er
iv
ativ
e
o
f
(
)
as f
o
llo
ws:
=
{
,
,
,
̇
(
)
>
0
̇
(
)
<
0
̇
(
)
=
0
(
5
)
Acc
u
r
at
e
d
e
tec
ti
o
n
o
f
t
h
ese
tr
a
n
s
it
io
n
s
is
c
h
al
le
n
g
in
g
i
n
p
r
a
ct
ice
d
u
e
t
o
n
o
is
e
,
n
o
n
li
n
ea
r
i
ties
,
a
n
d
s
i
g
n
a
l
d
e
la
y
s
.
Fig
u
r
e
1
.
Fu
n
ctio
n
al
b
lo
c
k
d
ia
g
r
am
f
o
r
s
in
g
le
jo
in
t
o
f
r
o
b
o
t
with
p
r
o
p
o
s
ed
C
SR
AM
2
.
2
.
Co
ntr
o
l sig
na
l r
ec
t
if
ica
t
io
n a
nd
a
ct
ua
t
io
n m
a
pp
ing
T
o
ad
d
r
ess
th
e
p
r
o
b
lem
d
is
cu
s
s
ed
in
s
ec
t
io
n
2
.
1
,
th
e
p
r
o
p
o
s
ed
C
SR
AM
f
r
am
ewo
r
k
ex
ten
d
s
th
e
C
i
C
ar
ch
itectu
r
e
[
2
6
]
b
y
in
teg
r
atin
g
th
r
ee
s
u
b
m
o
d
u
les:
th
e
d
r
iv
e
s
ig
n
al
r
ec
tifie
r
(
DS
R
)
,
th
e
s
i
g
n
al
p
o
le
d
etec
to
r
(
SP
D)
,
an
d
th
e
r
is
in
g
/d
o
wn
s
tr
ea
m
d
etec
to
r
(
R
DD)
,
as
s
h
o
wn
i
n
Fig
u
r
e
1
.
T
h
is
co
n
f
ig
u
r
atio
n
e
n
s
u
r
es
co
m
p
atib
ilit
y
a
n
d
ac
cu
r
ate
m
a
p
p
in
g
f
o
r
b
o
th
d
ir
ec
t
an
d
in
d
ir
ec
t
ac
tu
atio
n
m
ec
h
an
is
m
s
.
T
h
e
g
en
er
al
o
p
er
atio
n
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
T
h
e
DSR
f
ir
s
t
r
ec
tifie
s
th
e
an
alo
g
co
n
tr
o
l
s
ig
n
al,
(
)
,
in
to
a
p
o
s
itiv
e
an
d
f
ilter
ed
co
n
tr
o
l in
p
u
t sig
n
al,
(
)
:
=
∫
ℎ
(
−
)
(
)
0
(
6
)
wh
er
e
ℎ
(
)
is
th
e
im
p
u
ls
e
r
esp
o
n
s
e
o
f
a
lo
w
-
p
ass
f
ilter
.
As
s
h
o
wn
in
Fig
u
r
e
1
,
th
e
r
ec
tifie
d
s
ig
n
al
is
th
en
p
ass
th
r
o
u
g
h
th
e
l
o
g
ic
m
ap
p
in
g
lin
e
s
tar
ted
with
SP
D
to
co
n
v
er
t,
(
)
in
to
d
is
cr
ete
ac
tu
at
o
r
co
m
m
a
n
d
s
ac
co
r
d
in
g
to
th
e
alg
o
r
ith
m
as
(
7
)
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
43
-
51
46
=
{
1
(
)
>
0
0
(
)
<
0
(
7
)
co
r
r
esp
o
n
d
in
g
to
e
x
ten
d
/clo
c
k
wis
e
an
d
r
etr
ac
t/co
u
n
ter
clo
c
k
wis
e
m
o
tio
n
s
.
T
h
is
m
ain
tain
s
co
n
s
is
ten
t
m
ap
p
in
g
b
etwe
en
co
n
tr
o
l
s
ig
n
als
an
d
jo
in
t
an
g
les
(
2
,
3
)
(
r
ef
er
to
Fig
u
r
e
1
)
.
Fin
ally
,
th
e
R
DD
en
h
an
ce
s
r
esp
o
n
s
iv
en
ess
b
y
d
etec
tin
g
th
e
r
ate
o
f
ch
a
n
g
e
o
f
(
)
to
d
is
tin
g
u
is
h
b
etwe
en
r
is
in
g
an
d
d
o
wn
s
tr
ea
m
m
o
tio
n
s
u
s
in
g
th
e
alg
o
r
ith
m
a
s
f
o
llo
ws:
=
{
,
,
,
̇
(
)
>
̇
(
)
<
−
|
̇
(
)
|
≤
(
8
)
T
h
e
d
y
n
am
ic
th
r
esh
o
l
d
is
u
p
d
ated
u
s
in
g
=
∙
(
9
)
Her
e,
is
a
p
o
s
itiv
e
g
ain
co
n
s
tan
t
an
d
is
th
e
s
tan
d
a
r
d
d
e
v
iatio
n
o
f
(
)
with
in
a
s
lid
in
g
win
d
o
w.
T
h
is
ad
ap
tiv
e
th
r
esh
o
ld
in
tr
o
d
u
ce
s
h
y
s
ter
esis
to
av
o
id
f
alse
tr
an
s
itio
n
s
d
u
e
to
n
o
is
e.
T
h
r
o
u
g
h
th
e
in
teg
r
atio
n
o
f
DSR
,
S
PD,
an
d
R
DD,
th
e
C
S
R
AM
f
r
am
ewo
r
k
ac
h
iev
es
p
r
ec
is
e
an
d
ad
ap
tiv
e
s
ig
n
al
p
r
o
c
ess
in
g
in
r
ea
l
tim
e.
T
h
e
DSR
en
s
u
r
es
s
ig
n
al
co
m
p
atib
ilit
y
,
th
e
SP
D
estab
li
s
h
es
d
is
cr
ete
lo
g
ic
m
ap
p
in
g
,
a
n
d
t
h
e
R
DD
m
ain
tain
s
s
tab
ilit
y
d
u
r
in
g
d
ir
ec
tio
n
ch
a
n
g
es.
T
o
g
eth
er
,
th
ese
m
o
d
u
l
es
f
o
r
m
a
lig
h
tweig
h
t
p
r
ep
r
o
ce
s
s
in
g
lay
er
th
at
im
p
r
o
v
es
ac
tu
atio
n
p
r
ec
is
io
n
an
d
en
h
a
n
ce
s
d
ep
lo
y
m
en
t
r
eliab
ilit
y
,
as
s
u
m
m
ar
ized
in
th
e
o
v
er
v
iew
ar
ch
itectu
r
e
s
h
o
wn
i
n
Fig
u
r
e
1
.
Fig
u
r
e
2
.
Sam
p
le
o
f
e
x
p
er
im
e
n
t r
esu
lts
f
o
r
s
tep
in
p
u
t tr
ajec
to
r
y
r
esp
o
n
s
e
f
o
r
Me
r
u
s
jo
in
t a
n
d
C
ar
p
u
s
jo
in
t
o
f
th
e
Hex
aq
u
a
d
r
o
b
o
t
3.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
T
h
e
p
r
o
p
o
s
ed
C
SR
AM
is
v
er
if
ied
an
d
v
alid
ated
th
r
o
u
g
h
e
x
p
er
im
en
tal
o
n
a
leg
o
f
th
e
Hex
aq
u
ad
r
o
b
o
t
t
o
ev
alu
ate
its
p
er
f
o
r
m
a
n
ce
in
r
ea
l
-
tim
e
jo
in
t
c
o
n
tr
o
l.
T
h
e
v
alid
atio
n
f
o
c
u
s
ed
o
n
ass
ess
in
g
s
tead
y
-
s
tate
er
r
o
r
,
tr
an
s
ien
t
r
esp
o
n
s
e,
s
y
n
ch
r
o
n
izatio
n
,
an
d
tr
ajec
to
r
y
-
t
r
ac
k
in
g
ac
cu
r
ac
y
wh
e
n
C
SR
AM
was
in
teg
r
ated
with
an
a
n
ti
-
win
d
u
p
p
r
o
p
o
r
ti
o
n
al
–
in
teg
r
al
(
An
PI)
co
n
tr
o
ll
er
.
T
ests
wer
e
p
er
f
o
r
m
ed
o
n
th
e
Me
r
u
s
(
2
)
an
d
C
ar
p
u
s
(
θ
3
)
jo
in
ts
,
u
s
in
g
id
e
n
tical
in
p
u
t
t
r
ajec
to
r
ies
to
co
m
p
ar
e
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
ag
ai
n
s
t
th
e
co
n
v
en
tio
n
al
C
iC
[
2
6
]
.
T
h
e
p
r
em
ier
ex
p
e
r
im
en
tal
s
etu
p
,
co
n
tr
o
ller
ar
ch
itectu
r
e,
an
d
ac
tu
ato
r
co
n
n
ec
tio
n
ar
e
s
h
o
wn
in
Fig
u
r
e
3
,
wh
er
e
th
e
Hex
aq
u
a
d
’
s
leg
was
ca
lib
r
ate
d
an
d
test
ed
p
r
io
r
(
o
n
ai
r
test
)
to
p
er
f
o
r
m
in
g
th
e
g
r
o
u
n
d
lo
c
o
m
o
tio
n
ex
p
e
r
im
en
t sh
o
wn
in
Fig
u
r
e
4
.
E
ac
h
ac
tu
ato
r
p
air
was
p
o
wer
ed
b
y
a
d
u
al
f
u
ll
-
b
r
id
g
e
d
r
iv
er
th
at
r
eq
u
ir
e
d
o
n
e
PW
M
o
r
en
ab
le
in
p
u
t
an
d
two
d
ig
ital
in
p
u
ts
r
ep
r
esen
tin
g
ac
tu
ato
r
p
o
les
(
ac
tiv
e
-
h
ig
h
=e
x
ten
d
,
ac
tiv
e
-
lo
w=
r
etr
ac
t)
.
T
h
e
An
PI
co
n
tr
o
ller
g
ain
s
wer
e
tu
n
e
d
t
o
K
p
=
10
,
=
0
.
0001
an
d
=
1
.
T
h
e
a
d
ap
tiv
e
g
ain
co
n
s
tan
t
f
o
r
C
SR
AM
was
em
p
ir
ically
s
et
to
k
=
2
.
4
to
ac
h
iev
e
a
b
alan
ce
b
etwe
en
f
ast
r
esp
o
n
s
e
an
d
n
o
is
e
s
u
p
p
r
ess
io
n
.
T
h
es
e
s
ettin
g
s
en
s
u
r
ed
s
tab
le
s
ig
n
al
tr
an
s
m
is
s
io
n
an
d
s
y
n
ch
r
o
n
iz
ed
m
o
tio
n
th
r
o
u
g
h
o
u
t
b
o
th
s
t
atic
ca
lib
r
atio
n
a
n
d
d
y
n
am
ic
g
ait
ex
p
er
im
e
n
ts
.
(a)
(
b
)
(a)
(
b
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
R
ea
l
-
time
co
n
tr
o
l sig
n
a
l rectifica
tio
n
a
n
d
a
ctu
a
tio
n
ma
p
p
in
g
fo
r
r
o
b
o
t jo
in
t c
o
n
tr
o
l
(
A
d
d
i
e
I
r
a
w
a
n
)
47
Ov
er
all
h
ar
d
war
e
c
o
n
n
ec
tio
n
Of
f
s
et
an
g
les f
o
r
in
itializatio
n
Fig
u
r
e
3
.
T
h
e
ex
p
er
im
en
tal
s
etu
p
f
o
r
p
r
elim
in
a
r
y
test
Fig
u
r
e
4
.
Ma
r
c
h
in
g
tr
ajec
to
r
y
test
with
T
r
ip
o
d
g
ait
p
atter
n
L
eg
1
,
3
,
5
d
o
wn
an
d
2
,
4
,
6
u
p
an
d
L
eg
2
,
4
,
6
d
o
wn
an
d
1
,
3
,
5
u
p
A
p
r
elim
in
ar
y
test
with
leg
-
on
-
air
m
o
v
in
g
test
,
as
s
h
o
w
n
i
n
Fig
u
r
e
3
,
was
co
n
d
u
cted
s
tar
tin
g
with
ca
lib
r
ate
th
e
C
ar
p
u
s
,
2
an
d
Me
r
u
s
,
3
,
jo
in
t
’
s
o
f
f
s
ets
an
d
th
en
v
er
if
y
s
tep
r
esp
o
n
s
e
co
n
s
is
ten
cy
as
tr
ajec
to
r
y
ev
alu
atio
n
s
.
E
ac
h
jo
i
n
t
was
h
eld
at
its
r
ef
er
e
n
ce
p
o
s
itio
n
f
o
r
ab
o
u
t
5
0
m
s
to
d
eter
m
i
n
e
o
f
f
s
et
an
g
les
a
n
d
co
n
f
ir
m
ac
tu
ato
r
lin
ea
r
ity
.
C
a
lib
r
atio
n
r
esu
lts
in
d
icate
d
s
y
m
m
etr
ical
o
f
f
s
ets
ac
r
o
s
s
all
s
ix
leg
s
,
wh
er
e
2
=
0
0
,
3
=
+
90
0
(
f
o
r
L
eg
1
-
3
)
a
n
d
3
=
−
90
0
(
f
o
r
L
eg
4
-
6
)
,
estab
lis
h
in
g
a
u
n
if
o
r
m
b
aselin
e.
T
h
ese
co
n
f
ig
u
r
atio
n
s
estab
lis
h
ed
a
u
n
if
o
r
m
b
aselin
e
f
o
r
test
in
g
.
On
th
e
o
th
e
r
h
an
d
,
th
e
C
SR
AM
co
n
tr
o
ller
s
h
o
wed
m
ar
k
ed
im
p
r
o
v
em
e
n
t
o
v
er
C
iC
in
id
en
tical
co
n
d
itio
n
s
.
As
s
h
o
wn
in
Fig
u
r
e
2
,
th
e
s
tead
y
-
s
tate
er
r
o
r
d
r
o
p
p
ed
f
r
o
m
a
p
p
r
o
x
im
ately
1
4
%
(
C
i
C
)
to
0
.
6
%
f
o
r
th
e
Me
r
u
s
jo
i
n
t
an
d
0
.
5
%
f
o
r
th
e
C
ar
p
u
s
j
o
in
t.
T
h
e
tr
an
s
ien
t
r
esp
o
n
s
e
im
p
r
o
v
e
d
b
y
ab
o
u
t
0
.
3
s
,
an
d
th
e
s
ettlin
g
tim
e
s
h
o
r
ten
ed
b
y
r
o
u
g
h
ly
0
.
4
s
.
T
h
ese
r
esu
lts
s
h
o
wed
C
S
R
AM
ac
h
iev
ed
s
m
o
o
th
er
s
tab
ilizatio
n
an
d
f
aster
co
n
v
er
g
en
ce
as
co
m
p
ar
ed
to
C
iC
.
T
h
is
s
ig
n
if
ican
t
im
p
ac
t
ca
n
b
e
s
ee
n
i
n
th
e
p
r
o
p
o
s
ed
DSR
an
d
R
DD
f
u
n
ctio
n
s
in
t
h
e
co
n
tr
o
l
s
ig
n
al
as
ca
n
b
e
d
e
p
icted
in
Fig
u
r
e
5
(
a
)
wh
er
e
b
o
th
co
m
p
o
n
en
ts
p
r
o
d
u
ce
d
a
clea
n
,
n
o
is
e
-
f
r
ee
wav
ef
o
r
m
with
co
n
s
is
ten
t
p
o
lar
ity
tr
an
s
itio
n
s
.
Mo
r
eo
v
er
,
lo
g
ical
s
tate
tr
an
s
itio
n
s
d
etec
ted
b
y
th
e
SP
D
an
d
th
e
d
ir
ec
tio
n
al
r
esp
o
n
s
es
ca
p
tu
r
ed
b
y
t
h
e
R
DD
ar
e
d
is
p
lay
e
d
in
Fig
u
r
e
5
(
b
)
,
d
em
o
n
s
tr
ate
th
at
C
SR
AM
ac
cu
r
ately
d
etec
ts
m
o
tio
n
-
d
ir
e
ctio
n
ch
a
n
g
es
with
m
in
im
al
d
elay
.
T
h
is
en
s
u
r
es lo
g
ical
co
n
s
is
ten
cy
an
d
s
y
n
ch
r
o
n
ized
ac
tu
atio
n
ac
r
o
s
s
b
o
th
jo
in
ts
.
Dy
n
am
ic
g
ait
v
alid
atio
n
f
o
llo
wed
a
m
ar
ch
in
g
tr
ajec
to
r
y
b
a
s
ed
o
n
th
e
tr
ip
o
d
g
ait
s
eq
u
e
n
ce
,
wh
er
e
L
eg
s
1
–
3
–
5
a
n
d
2
–
4
–
6
alter
n
ated
b
etwe
en
s
tan
ce
an
d
s
win
g
p
h
ases
,
as
d
ep
icted
in
Fig
u
r
e
5
.
T
h
e
Y
-
ax
is
(
h
o
r
izo
n
tal)
m
o
tio
n
o
f
L
eg
1
(
L
1
)
in
Fig
u
r
e
6
(
a)
s
h
o
ws
th
a
t
o
s
cillatio
n
am
p
litu
d
e
d
ec
r
ea
s
ed
b
y
ar
o
u
n
d
2
5
–
3
0
%,
an
d
s
tead
y
-
s
tate
er
r
o
r
d
r
o
p
p
ed
b
elo
w
5
%
as
co
m
p
ar
ed
to
1
5
%
f
o
r
C
iC
.
T
h
e
Z
-
ax
is
(
v
er
tical)
tr
ajec
to
r
y
in
Fig
u
r
e
6
(
b
)
d
em
o
n
s
tr
ates
a
4
0
%
r
ed
u
cti
o
n
in
h
ig
h
-
f
r
e
q
u
e
n
cy
s
p
ik
es
an
d
v
ib
r
atio
n
a
m
p
l
itu
d
e,
with
s
ettlin
g
Merus
Jo
int
Ca
rpu
s
Jo
int
0
90
0
90
P
ot
en
tiome
t
er
p
os
ition
(
a
)
(
b
)
DC
P
o
w
er
suppl
y
PC
Con
t
r
oller
uni
t
se
que
nces
(a)
(
b
)
L1
L3
L5
L2
L6
L4
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
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8
6
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J
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o
b
&
A
u
to
m
,
Vo
l
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1
5
,
No
.
1
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Ma
r
ch
20
2
6
:
43
-
51
48
tim
e
s
h
o
r
ten
ed
b
y
a
p
p
r
o
x
im
a
tely
0
.
4
s
an
d
th
ese
r
esu
ltin
g
s
m
o
o
th
er
v
e
r
tical
tr
an
s
itio
n
s
in
leg
m
o
tio
n
.
T
h
e
ad
ap
tiv
e
th
r
esh
o
ld
an
d
h
y
s
ter
esis
m
ec
h
an
is
m
with
in
th
e
R
DD
im
p
r
o
v
e
d
r
elia
b
ilit
y
b
y
d
y
n
am
ically
a
d
ju
s
tin
g
d
etec
tio
n
th
r
esh
o
ld
s
with
r
ef
er
en
ce
to
(
9
)
.
T
h
is
ad
a
p
tiv
e
b
eh
av
i
o
r
p
r
ev
en
te
d
f
alse
s
witch
in
g
n
ea
r
ze
r
o
cr
o
s
s
in
g
s
an
d
s
u
s
tain
ed
d
ir
ec
ti
o
n
al
s
tab
ilit
y
d
u
r
in
g
r
ap
i
d
tr
an
s
itio
n
s
,
ef
f
ec
tiv
ely
elim
in
atin
g
jitt
er
s
.
(
a)
(
b
)
Fig
u
r
e
5
.
Sam
p
le
o
f
c
o
n
tr
o
l in
p
u
t sig
n
als (
a)
r
ec
tific
atio
n
b
y
C
iC
th
r
o
u
g
h
v
er
s
u
s
C
SR
AM
th
r
o
u
g
h
R
DD
r
ep
r
esen
ted
b
y
f
o
r
DSR
o
u
tp
u
t a
n
d
(
b
)
SP
D
r
esp
o
n
s
e
b
y
C
i
C
an
d
R
DD
o
u
tp
u
t r
esp
o
n
s
e
b
y
C
SR
AM
ac
co
r
d
in
g
to
th
e
c
o
n
tr
o
l i
n
p
u
t
ch
an
g
es
(
a)
(
b
)
Fig
u
r
e
6
.
Sam
p
le
o
f
L
e
g
1
’
s
m
o
tio
n
s
(
a)
Y
-
ax
is
m
o
tio
n
an
d
(
b
)
Z
-
ax
is
m
o
tio
n
T
r
ajec
to
r
y
-
tr
ac
k
in
g
ac
cu
r
ac
y
was
ev
alu
ated
u
s
in
g
th
e
r
o
o
t
-
m
ea
n
-
s
q
u
ar
e
er
r
o
r
(
R
MSE
)
b
etwe
en
th
e
r
ef
er
en
ce
an
d
m
ea
s
u
r
ed
c
o
o
r
d
in
ates.
T
h
e
3
D
R
MSE
d
ec
r
ea
s
ed
f
r
o
m
2
.
4
5
6
7
cm
(
C
iC
)
to
0
.
8
9
1
2
c
m
(
C
SR
AM
)
,
co
r
r
esp
o
n
d
in
g
to
a
6
3
.
7
%
im
p
r
o
v
e
m
en
t
in
tr
ac
k
in
g
p
r
e
cisi
o
n
.
T
h
ese
r
esu
lts
d
em
o
n
s
tr
ate
th
at
C
SR
AM
ef
f
ec
tiv
ely
m
in
im
izes d
e
v
iatio
n
wh
ile
m
ain
tain
in
g
s
y
n
ch
r
o
n
i
za
tio
n
in
m
u
lti
-
jo
i
n
t m
o
tio
n
.
Ov
er
all,
th
e
e
x
p
er
im
en
tal
f
in
d
in
g
s
co
n
f
ir
m
th
at
th
e
p
r
o
p
o
s
ed
C
SR
AM
f
r
am
ewo
r
k
s
u
b
s
tan
tially
en
h
an
ce
s
th
e
r
eliab
ilit
y
an
d
p
r
ec
is
io
n
o
f
r
ea
l
-
tim
e
r
o
b
o
tic
j
o
in
t
co
n
tr
o
l.
I
t
s
ig
n
i
f
ican
tly
r
ed
u
ce
s
s
tead
y
-
s
tate
er
r
o
r
,
ac
ce
le
r
ates
tr
an
s
ien
t
r
ec
o
v
er
y
,
s
u
p
p
r
ess
es
o
s
cillatio
n
s
,
an
d
im
p
r
o
v
es
s
y
n
ch
r
o
n
izat
io
n
ac
r
o
s
s
m
u
ltip
le
jo
in
ts
.
As
a
lig
h
tweig
h
t
p
r
e
p
r
o
ce
s
s
in
g
lay
er
,
C
SR
AM
en
s
u
r
es
ac
cu
r
ate
s
ig
n
al
r
ec
tific
a
tio
n
an
d
ac
tu
atio
n
m
ap
p
in
g
with
o
u
t
ad
d
in
g
co
m
p
u
tatio
n
al
o
v
er
h
ea
d
,
m
ak
i
n
g
it
h
ig
h
ly
s
u
itab
le
f
o
r
r
ea
l
-
tim
e
d
ep
lo
y
m
en
t
in
m
u
lti
-
jo
in
t a
n
d
le
g
g
ed
r
o
b
o
tic
s
y
s
tem
s
th
at
d
em
an
d
s
tab
le
an
d
p
r
ec
is
e
m
o
tio
n
co
n
tr
o
l.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
R
ea
l
-
time
co
n
tr
o
l sig
n
a
l rectifica
tio
n
a
n
d
a
ctu
a
tio
n
ma
p
p
in
g
fo
r
r
o
b
o
t jo
in
t c
o
n
tr
o
l
(
A
d
d
i
e
I
r
a
w
a
n
)
49
4.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
p
r
esen
ted
t
h
e
C
SR
AM
f
r
am
ewo
r
k
to
en
h
an
ce
th
e
r
eliab
ilit
y
o
f
r
ea
l
-
tim
e
r
o
b
o
t
jo
in
t
co
n
tr
o
l.
Actin
g
as
an
i
n
ter
f
ac
e
b
etwe
en
th
e
c
o
n
tr
o
ller
an
d
ac
tu
ato
r
d
r
i
v
er
,
it
e
n
s
u
r
es
ac
cu
r
ate
s
ig
n
al
r
ec
tific
atio
n
an
d
s
tab
le
ac
tu
atio
n
m
ap
p
in
g
th
r
o
u
g
h
th
e
in
teg
r
atio
n
o
f
DSR
,
SP
D,
a
n
d
R
DD
m
o
d
u
les.
E
x
p
er
im
en
ts
o
n
th
e
Hex
aq
u
ad
r
o
b
o
t
s
h
o
wed
th
at
C
SR
AM
i
m
p
r
o
v
e
d
p
e
r
f
o
r
m
an
ce
o
v
er
th
e
co
n
v
e
n
tio
n
al
C
iC
,
r
ed
u
cin
g
s
tead
y
-
s
tate
er
r
o
r
f
r
o
m
1
4
%
to
b
elo
w
1
%,
s
h
o
r
t
en
in
g
tr
a
n
s
ien
t
an
d
s
ettlin
g
tim
es
b
y
u
p
to
0
.
4
s
,
an
d
d
ec
r
ea
s
in
g
tr
ajec
to
r
y
R
MSE
b
y
6
3
.
7
%.
T
h
e
f
r
am
ewo
r
k
ef
f
e
ctiv
ely
m
in
im
izes
n
o
n
li
n
ea
r
ities
,
n
o
is
e,
a
n
d
s
y
n
ch
r
o
n
izatio
n
d
elay
s
with
o
u
t
ad
d
ed
co
m
p
u
tatio
n
al
lo
ad
.
I
ts
m
o
d
u
lar
s
tr
u
ct
u
r
e
p
r
o
v
id
es
a
s
im
p
le,
r
o
b
u
s
t
p
r
ep
r
o
ce
s
s
in
g
lay
er
s
u
itab
le
f
o
r
v
ar
io
u
s
r
o
b
o
tic
p
latf
o
r
m
s
an
d
ad
a
p
tab
le
to
f
u
tu
r
e
lear
n
in
g
-
b
ased
an
d
co
o
p
er
ativ
e
c
o
n
tr
o
l sy
s
tem
s
.
ACK
NO
WL
E
DG
M
E
N
T
S
T
h
e
au
th
o
r
s
wo
u
ld
lik
e
to
th
an
k
th
e
U
n
iv
er
s
iti
Ma
lay
s
ia
Pah
an
g
Al
-
Su
ltan
Ab
d
u
llah
(
UM
PS
A)
u
n
d
er
th
e
Dis
tin
g
u
is
h
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