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[
1
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[
2
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M
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5
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tem
th
at
cr
ea
tes
o
b
s
er
v
ati
o
n
al
f
ac
e
d
r
awin
g
s
with
o
u
t
e
x
p
licit
k
n
o
wled
g
e
o
f
f
ac
ial
f
ea
tu
r
es
o
r
h
u
m
an
-
lik
e
lear
n
i
n
g
.
I
n
s
tead
,
it
u
s
es
a
cy
cle
o
f
p
r
o
ce
s
s
es
m
im
ick
in
g
ar
tis
tic
tech
n
iq
u
es,
en
h
an
ce
d
b
y
tw
o
f
o
r
m
s
o
f
v
is
u
al
f
ee
d
b
ac
k
,
co
m
p
u
tatio
n
al
an
d
p
h
y
s
ical
,
to
iter
ativ
ely
r
ef
in
e
i
ts
wo
r
k
.
Pich
k
alev
et
a
l
.
[
1
1
]
p
r
esen
t
ed
a
s
y
s
tem
th
at
ex
t
r
ac
ts
ed
g
e
p
o
in
ts
f
r
o
m
web
ca
m
im
ag
es
u
s
in
g
a
C
an
n
y
ed
g
e
d
etec
to
r
an
d
co
n
v
er
ts
th
em
in
to
cu
r
v
es
v
ia
cu
b
ic
s
p
lin
e
in
ter
p
o
latio
n
f
o
r
r
o
b
o
tic
d
r
awin
g
.
T
h
e
s
y
s
tem
i
n
clu
d
es
a
u
s
er
-
f
r
ien
d
ly
in
ter
f
a
ce
with
ad
j
u
s
tab
le
p
ar
a
m
eter
s
an
d
u
s
es
a
KUKA
KR
3
R
5
4
0
r
o
b
o
t
to
r
ep
r
o
d
u
c
e
th
e
p
r
o
ce
s
s
ed
im
ag
e
o
n
p
a
p
er
.
Ho
wev
er
,
th
e
s
etu
p
in
th
ese
wo
r
k
s
is
h
ig
h
ly
task
-
s
p
ec
if
ic
an
d
u
s
u
ally
r
eq
u
ir
es
co
n
tr
o
lled
lig
h
tin
g
(
e.
g
.
,
s
p
o
tlig
h
ts
)
an
d
a
u
n
if
o
r
m
b
ac
k
g
r
o
u
n
d
f
o
r
r
eliab
le
im
ag
e
ca
p
tu
r
e.
B
ey
o
n
d
p
o
r
tr
ait
d
r
awin
g
,
o
th
e
r
wo
r
k
s
h
a
v
e
ex
p
lo
r
e
d
b
r
o
ad
e
r
asp
ec
ts
o
f
r
o
b
o
t
-
ass
is
ted
s
k
etch
in
g
an
d
v
is
u
aliza
tio
n
.
Fo
r
ex
am
p
le,
So
n
g
et
a
l
.
[
1
2
]
an
aly
ze
d
im
p
ed
a
n
ce
co
n
tr
o
l to
cr
ea
te
d
etailed
p
en
ar
t o
n
ar
b
itra
r
y
s
u
r
f
ac
es
with
o
u
t
ex
p
licit
s
u
r
f
ac
e
r
ec
o
n
s
tr
u
ctio
n
o
r
v
is
u
al
f
ee
d
b
ac
k
.
Similar
ly
,
J
ain
et
a
l
.
[
1
3
]
f
o
c
u
s
e
d
o
n
a
f
o
r
ce
-
co
n
tr
o
lled
p
o
r
tr
ait
-
d
r
aw
in
g
r
o
b
o
t
th
at
ca
n
o
p
er
ate
o
n
ar
b
itra
r
ily
s
h
a
p
ed
,
n
o
n
-
ca
li
b
r
ated
s
u
r
f
ac
es
b
y
u
s
in
g
f
o
r
ce
s
en
s
in
g
to
d
y
n
am
i
ca
lly
o
r
ien
t
th
e
p
e
n
,
elim
in
ati
n
g
th
e
n
ee
d
f
o
r
s
u
r
f
ac
e
ca
lib
r
atio
n
.
E
x
ten
d
in
g
to
2
.
5
D
a
p
p
licatio
n
s
,
L
a
m
et
a
l
.
[
1
4
]
in
tr
o
d
u
ce
d
tech
n
iq
u
es
f
o
r
d
r
awin
g
o
n
co
n
t
o
u
r
e
d
s
u
r
f
a
ce
s
u
s
in
g
a
3
-
DOF
s
k
etch
in
g
p
latf
o
r
m
,
i
n
teg
r
ati
n
g
im
ag
e
p
r
o
ce
s
s
in
g
a
n
d
s
u
r
f
ac
e
p
r
o
jectio
n
alg
o
r
ith
m
s
to
g
en
e
r
ate
p
en
tr
ajec
to
r
ies f
o
r
b
o
th
f
lat
an
d
u
n
ev
en
s
u
r
f
ac
es.
I
n
p
ar
allel,
ar
tis
ts
an
d
r
esear
ch
er
s
h
av
e
ex
p
lo
r
e
d
th
e
u
s
e
o
f
r
o
b
o
tic
s
y
s
tem
s
as
au
to
n
o
m
o
u
s
o
r
co
llab
o
r
ativ
e
to
o
ls
f
o
r
a
r
tis
tic
p
ain
tin
g
.
R
ep
r
esen
tativ
e
e
x
am
p
les
in
clu
d
e
th
e
e
-
Dav
id
s
y
s
te
m
,
wh
ich
c
o
n
tr
o
ls
v
ar
io
u
s
p
ain
tin
g
m
ec
h
a
n
is
m
s
to
p
r
o
d
u
ce
r
o
b
o
tic
ar
two
r
k
s
[
1
5
]
,
as
well
as
ap
p
r
o
ac
h
es
th
at
co
m
b
in
e
n
o
n
-
p
h
o
to
r
ea
lis
tic
r
en
d
e
r
in
g
tech
n
iq
u
es
with
r
o
b
o
tic
p
ain
tin
g
to
g
en
er
ate
d
is
tin
ctiv
e
ar
tis
tic
s
ty
les
[
1
6
]
.
Ad
d
itio
n
al
in
ter
ac
tiv
e
a
n
d
c
o
llab
o
r
ativ
e
p
ai
n
tin
g
s
y
s
tem
s
h
a
v
e
b
ee
n
r
ep
o
r
ted
in
[
1
7
]
an
d
[
1
8
]
,
d
em
o
n
s
tr
atin
g
h
o
w
r
o
b
o
ts
ca
n
ass
is
t h
u
m
an
u
s
er
s
in
r
eg
io
n
-
b
ased
p
ain
tin
g
a
n
d
s
h
ar
ed
c
r
ea
tiv
e
p
r
o
ce
s
s
es.
I
n
th
e
d
o
m
ain
o
f
r
o
b
o
tic
te
x
t
wr
itin
g
,
Yu
s
s
o
f
et
a
l
.
[
1
9
]
p
r
o
p
o
s
ed
a
ch
ar
ac
te
r
s
eg
m
en
tatio
n
alg
o
r
ith
m
t
h
at
d
ec
o
m
p
o
s
es
letter
s
in
to
s
tr
aig
h
t
lin
es
an
d
c
u
r
v
es.
T
h
ese
p
r
im
itiv
es
a
r
e
s
to
r
ed
an
d
later
u
s
ed
to
g
u
id
e
a
Mitsu
b
is
h
i
R
V
-
2
AJ
r
o
b
o
tic
ar
m
in
r
e
p
r
o
d
u
cin
g
th
e
ch
ar
ac
ter
s
.
Ho
wev
e
r
,
th
e
s
tu
d
y
f
o
cu
s
es
s
o
lely
o
n
th
e
L
atin
alp
h
ab
et
a
n
d
lack
s
co
m
p
r
eh
en
s
iv
e
e
x
p
er
im
en
t
al
v
alid
atio
n
.
Ab
d
elaa
l
[
2
0
]
f
o
cu
s
ed
m
o
r
e
o
n
m
o
v
em
en
t
c
o
n
tr
o
l
p
r
o
g
r
am
m
i
n
g
u
s
in
g
r
o
b
o
t
-
s
p
ec
if
ic
p
r
o
g
r
am
m
in
g
lan
g
u
ag
es.
T
h
e
wo
r
k
an
aly
ze
d
cir
c
u
lar
an
d
s
tr
aig
h
t
-
lin
e
m
o
tio
n
s
,
w
h
ich
ar
e
cr
itical
in
in
d
u
s
tr
ia
l
ap
p
licatio
n
s
s
u
ch
as
weld
i
n
g
,
p
ain
tin
g
,
an
d
m
ac
h
in
in
g
.
I
t
also
e
x
p
lo
r
e
d
th
e
r
elatio
n
s
h
ip
b
etwe
en
m
o
tio
n
s
p
ee
d
a
n
d
ac
c
u
r
ac
y
wh
en
co
m
m
a
n
d
s
ar
e
g
en
er
ated
in
te
r
n
ally
b
y
th
e
r
o
b
o
t c
o
n
tr
o
ller
.
Su
n
an
d
Xu
[
2
1
]
was
am
o
n
g
t
h
e
f
ir
s
t
to
in
tr
o
d
u
ce
r
o
b
o
tic
ca
llig
r
ap
h
y
wr
itin
g
u
s
in
g
a
m
an
i
p
u
lato
r
,
a
task
th
at
p
o
s
es
ad
d
itio
n
al
c
h
a
llen
g
es
d
u
e
to
v
ar
iatio
n
s
in
b
r
u
s
h
tip
d
ef
o
r
m
atio
n
an
d
th
e
n
ee
d
to
ass
ess
in
k
wetn
ess
an
d
d
r
y
n
ess
d
u
r
in
g
wr
itin
g
.
Similar
ly
,
L
in
et
a
l
.
[
2
2
]
d
em
o
n
s
tr
ated
a
r
o
b
o
tic
ar
m
ca
p
ab
le
o
f
wr
itin
g
C
h
in
ese
ch
ar
ac
ter
s
u
s
in
g
a
b
r
u
s
h
.
I
n
th
is
wo
r
k
,
b
r
u
s
h
s
tr
o
k
e
b
e
h
av
io
r
was
m
o
d
eled
b
y
m
ea
s
u
r
in
g
b
r
u
s
h
f
o
o
tp
r
i
n
ts
,
s
u
ch
as
s
h
a
p
e,
la
g
,
an
d
o
r
ien
tatio
n
,
a
n
d
r
ep
r
esen
tin
g
s
tr
o
k
es
u
s
in
g
B
éz
ier
c
u
r
v
es
co
m
b
in
e
d
with
Dir
ec
t
L
in
ea
r
T
r
an
s
f
o
r
m
atio
n
.
W
h
ile
th
is
ap
p
r
o
ac
h
a
v
o
id
s
ex
p
licit
p
h
y
s
ical
m
o
d
elin
g
o
f
th
e
b
r
u
s
h
,
it
r
elies
h
ea
v
ily
o
n
p
r
ec
is
e
ca
lib
r
atio
n
an
d
is
s
en
s
itiv
e
to
b
r
u
s
h
t
y
p
e
.
Nev
er
th
eless
,
th
e
s
y
s
tem
ac
h
iev
ed
h
i
g
h
-
f
i
d
elity
r
esu
lts
,
with
an
av
e
r
ag
e
e
v
alu
atio
n
s
co
r
e
o
f
9
4
/1
0
0
b
ased
o
n
c
h
ar
ac
ter
s
h
ap
e,
p
o
s
itio
n
in
g
ac
cu
r
ac
y
,
a
n
d
s
tr
o
k
e
b
alan
ce
.
An
o
th
er
r
o
b
o
tic
ca
llig
r
ap
h
y
s
y
s
tem
f
o
r
C
h
in
ese
ch
ar
ac
ter
s
was
p
r
esen
ted
by
C
h
ao
et
a
l.
[
2
3
]
.
I
n
a
d
if
f
er
en
t
d
ir
ec
tio
n
,
Z
h
an
g
et
a
l
.
[
2
4
]
aim
ed
t
o
r
e
p
licate
h
u
m
an
h
an
d
wr
itin
g
in
r
ea
l
tim
e
b
y
tr
ac
k
in
g
h
an
d
m
o
v
em
en
ts
u
s
in
g
R
GB
-
D
d
ata
f
r
o
m
a
Kin
ec
t
s
en
s
o
r
.
T
h
e
au
th
o
r
s
u
s
ed
g
eo
m
etr
ic
m
o
m
en
ts
an
d
co
n
t
o
u
r
ex
tr
ac
tio
n
,
f
o
llo
we
d
b
y
a
r
ea
l
-
tim
e
s
m
o
o
th
in
g
tech
n
i
q
u
e
,
N
-
R
PR
I
I
n
ter
p
o
latio
n
,
to
co
n
v
er
t
d
is
cr
ete
h
an
d
m
o
tio
n
in
to
co
n
tin
u
o
u
s
r
o
b
o
t
tr
ajec
to
r
ies.
Nu
m
er
o
u
s
s
tu
d
ies
o
n
r
o
b
o
tic
wr
itin
g
[
2
5
]
,
[
2
6
]
an
d
d
r
awin
g
[
2
7
]
–
[
2
9
]
f
u
r
th
e
r
d
em
o
n
s
tr
ate
th
e
g
r
o
win
g
in
ter
est in
r
o
b
o
tic
s
y
s
tem
s
f
o
r
cr
ea
tiv
e
a
n
d
e
x
p
r
ess
iv
e
task
s
.
An
o
th
er
im
p
o
r
tan
t
asp
ec
t
in
r
o
b
o
tic
wr
itin
g
an
d
d
r
awin
g
i
s
tr
ajec
to
r
y
g
e
n
er
atio
n
,
as
th
e
r
esu
ltin
g
m
o
tio
n
s
m
u
s
t
s
im
u
ltan
eo
u
s
ly
en
s
u
r
e
g
eo
m
etr
ic
f
id
elity
an
d
s
m
o
o
th
v
elo
city
an
d
ac
ce
ler
at
io
n
p
r
o
f
iles
.
T
h
ese
r
eq
u
ir
em
e
n
ts
b
ec
o
m
e
p
ar
ticu
l
ar
ly
ch
allen
g
in
g
wh
en
tr
ajec
t
o
r
ies
co
n
tain
s
h
ar
p
c
o
r
n
er
s
,
d
en
s
e
way
p
o
in
ts
,
o
r
co
m
p
lex
c
u
r
v
e
d
s
tr
o
k
es.
Prio
r
s
tu
d
ies
h
av
e
ex
p
lo
r
e
d
cu
r
v
e
-
b
ased
r
ep
r
esen
tatio
n
s
,
s
u
ch
as B
éz
ier
-
cu
r
v
e
s
tr
o
k
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m
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e
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a
m
eter
izatio
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s
[
2
2
]
;
h
o
wev
er
,
th
ese
m
eth
o
d
s
ty
p
i
ca
lly
r
eq
u
ir
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ad
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itio
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m
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d
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itiv
e
to
to
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l
a
n
d
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u
r
f
ac
e
ch
ar
ac
ter
is
tics
.
An
alter
n
ativ
e
ap
p
r
o
ac
h
r
elies
o
n
s
p
lin
e
in
ter
p
o
latio
n
(
e.
g
.
,
c
u
b
ic
B
-
s
p
lin
es)
to
s
m
o
o
t
h
p
iece
wis
e
-
lin
ea
r
way
p
o
i
n
t
p
at
h
s
wh
ile
m
ain
tain
in
g
c
u
r
v
atu
r
e
co
n
tin
u
ity
,
w
h
ich
im
p
r
o
v
es
m
o
tio
n
s
m
o
o
th
n
ess
an
d
r
ed
u
ce
s
jer
k
b
u
t m
ay
in
tr
o
d
u
ce
ap
p
r
o
x
im
atio
n
er
r
o
r
s
an
d
r
eq
u
ir
es c
ar
ef
u
l tu
n
in
g
o
f
s
m
o
o
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in
g
p
ar
am
eter
s
[
3
0
]
.
B
ey
o
n
d
g
eo
m
etr
ic
co
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id
er
atio
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,
ex
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u
tio
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p
er
f
o
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m
a
n
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also
d
ep
en
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s
o
n
tim
e
p
a
r
a
m
eter
izatio
n
u
n
d
er
ac
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ato
r
co
n
s
tr
ain
ts
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wh
er
e
t
r
ap
ez
o
id
al
o
r
lim
ited
-
ac
ce
ler
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p
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ar
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o
m
m
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l
y
u
s
ed
to
b
alan
ce
s
p
ee
d
an
d
ac
cu
r
ac
y
[
3
1
]
,
[
3
2
]
.
T
h
ese
co
n
s
id
er
ati
o
n
s
h
ig
h
lig
h
t
a
f
u
n
d
am
en
tal
tr
ad
e
-
o
f
f
in
r
o
b
o
tic
wr
itin
g
an
d
d
r
awin
g
:
h
ig
h
ac
c
u
r
ac
y
o
f
ten
f
a
v
o
r
s
d
en
s
e
way
p
o
in
ts
an
d
m
i
n
im
al
b
le
n
d
in
g
,
wh
er
ea
s
h
ig
h
s
p
ee
d
an
d
s
m
o
o
th
n
ess
f
av
o
r
s
p
lin
e
-
b
ased
s
m
o
o
th
in
g
an
d
o
p
tim
i
ze
d
tim
e
s
ca
lin
g
,
wh
ich
m
ay
d
ev
iate
f
r
o
m
th
e
in
ten
d
ed
g
eo
m
etr
y
.
Ho
wev
er
,
th
er
e
r
em
ain
s
a
lack
o
f
a
co
m
p
r
e
h
en
s
iv
e
an
d
f
le
x
ib
le
f
r
am
ewo
r
k
f
o
r
g
e
n
er
ati
n
g
m
o
tio
n
lib
r
ar
ies th
at
allo
w
r
o
b
o
ts
,
esp
ec
ially
ar
ticu
lated
o
r
h
i
g
h
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
r
o
b
o
ts
(
6
DOF
s
o
r
m
o
r
e)
,
to
wr
ite
ar
b
itra
r
y
tex
t
o
r
d
r
aw
v
ar
io
u
s
f
ig
u
r
es.
Mo
s
t
p
r
io
r
ap
p
r
o
ac
h
es
ar
e
eith
er
h
ig
h
ly
task
-
s
p
ec
if
ic
o
r
r
eq
u
ir
e
s
ig
n
if
ican
t
m
an
u
al
p
r
o
g
r
a
m
m
in
g
ef
f
o
r
t.
Desig
n
in
g
p
r
ec
i
s
e
tr
ajec
to
r
ies,
ca
lib
r
atin
g
to
o
l
o
r
ien
tatio
n
s
,
an
d
m
an
ag
in
g
co
m
m
u
n
icatio
n
b
etwe
en
u
s
er
in
ter
f
ac
es
an
d
r
o
b
o
t
co
n
tr
o
ller
s
o
f
ten
r
eq
u
i
r
e
ex
p
er
t
k
n
o
wled
g
e
in
r
o
b
o
t
k
in
em
atics,
an
d
p
r
o
g
r
a
m
m
in
g
.
T
h
er
e
is
a
p
r
ess
in
g
n
ee
d
f
o
r
s
y
s
tem
s
th
at
lo
wer
th
e
en
tr
y
b
ar
r
ier
,
en
ab
lin
g
ar
tis
ts
,
ed
u
ca
to
r
s
,
s
tu
d
en
ts
,
an
d
o
th
er
n
o
n
-
s
p
ec
iali
s
ts
to
d
ir
ec
t
r
o
b
o
tic
d
r
awin
g
an
d
wr
itin
g
with
o
u
t
d
ee
p
tech
n
ical
e
x
p
er
tis
e.
T
o
ad
d
r
ess
th
ese
lim
itatio
n
s
,
th
is
wo
r
k
p
r
o
p
o
s
es
a
u
s
er
-
f
r
ie
n
d
ly
an
d
ad
a
p
tab
le
co
n
tr
o
l
p
i
p
elin
e
f
o
r
en
ab
lin
g
wr
itin
g
an
d
d
r
awi
n
g
ca
p
ab
ilit
ies
o
n
an
AB
B
Go
Fa
6
-
DOF
r
o
b
o
t.
Ou
r
ap
p
r
o
ac
h
in
teg
r
ates
So
lid
W
o
r
k
s
f
o
r
c
r
ea
tin
g
te
x
t
an
d
s
y
m
b
o
l
s
u
r
f
ac
es,
AB
B
R
o
b
o
tSt
u
d
io
f
o
r
c
o
n
v
er
tin
g
t
h
o
s
e
s
u
r
f
ac
es
in
to
m
o
tio
n
p
ath
s
,
an
d
s
o
ck
et
-
b
ase
d
co
m
m
u
n
icatio
n
with
a
cu
s
to
m
h
u
m
an
–
m
ac
h
in
e
in
te
r
f
ac
e
(
HM
I
)
.
T
h
r
o
u
g
h
th
e
HM
I
,
u
s
er
s
ca
n
in
p
u
t
tex
t
o
r
s
elec
t
p
r
ed
ef
in
ed
im
a
g
es,
wh
ich
ar
e
th
en
c
o
n
v
e
r
ted
in
t
o
ex
ec
u
tab
le
r
o
b
o
t
tr
ajec
to
r
ies
with
o
u
t
m
an
u
al
tr
ajec
to
r
y
p
r
o
g
r
am
m
in
g
.
So
lid
W
o
r
k
s
en
ab
les
th
e
d
esig
n
o
f
all
E
n
g
lis
h
alp
h
ab
et
ch
ar
ac
ter
s
,
d
ig
its
,
an
d
s
y
m
b
o
l
s
as
s
u
r
f
ac
e
p
r
o
f
iles
,
wh
ich
a
r
e
th
en
p
r
o
ce
s
s
ed
in
R
o
b
o
tSt
u
d
io
to
ex
tr
ac
t
p
ath
p
o
in
ts
.
T
h
ese
ar
e
tr
an
s
m
itted
to
th
e
r
o
b
o
t
v
ia
T
C
P/IP
s
o
ck
et
co
m
m
u
n
icatio
n
,
allo
win
g
r
ea
l
-
tim
e,
d
y
n
am
ic
task
ex
ec
u
tio
n
.
T
h
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
h
as
b
ee
n
im
p
lem
en
ted
an
d
test
ed
o
n
th
e
AB
B
Go
Fa
co
llab
o
r
ativ
e
r
o
b
o
t.
E
x
p
er
im
en
tal
r
esu
lts
co
n
f
ir
m
th
e
r
o
b
o
t’
s
ab
ilit
y
to
ac
cu
r
ately
e
x
ec
u
te
d
iv
er
s
e
w
r
itin
g
an
d
d
r
awin
g
task
s
b
ased
o
n
u
s
er
in
p
u
t,
d
em
o
n
s
tr
atin
g
b
o
t
h
th
e
f
ea
s
ib
ilit
y
an
d
p
r
ac
tical
p
o
ten
tial
o
f
th
e
s
y
s
tem
f
o
r
in
ter
ac
tiv
e
ex
h
ib
itio
n
s
,
ed
u
ca
t
io
n
,
an
d
cr
ea
tiv
e
ap
p
licatio
n
s
.
T
h
e
r
em
ain
d
e
r
o
f
t
h
is
p
ap
er
i
s
o
r
g
an
ized
as
f
o
llo
ws.
Sectio
n
2
in
tr
o
d
u
ce
s
th
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
,
b
eg
in
n
in
g
with
a
s
y
s
tem
o
v
er
v
iew,
f
o
llo
wed
b
y
th
e
d
esig
n
o
f
th
e
en
d
-
ef
f
ec
to
r
an
d
ex
p
er
i
m
en
tal
s
etu
p
.
I
t
th
en
d
escr
ib
es
th
e
p
ath
g
e
n
er
atio
n
p
r
o
ce
d
u
r
e,
th
e
i
n
teg
r
atio
n
o
f
t
h
e
HM
I
,
an
d
t
h
e
co
n
tr
o
l
f
r
am
ewo
r
k
th
at
co
n
n
ec
ts
h
ig
h
-
lev
el
u
s
er
in
p
u
ts
with
lo
w
-
lev
el
r
o
b
o
t
m
o
tio
n
ex
ec
u
tio
n
.
Sectio
n
3
p
r
esen
ts
ex
p
er
im
en
tal
r
esu
lts
o
b
tain
ed
o
n
th
e
p
h
y
s
ical
AB
B
Go
Fa
r
o
b
o
t,
d
em
o
n
s
tr
atin
g
wr
itin
g
,
d
r
awin
g
,
a
n
d
clea
n
in
g
task
s
.
Fin
ally
,
s
ec
tio
n
4
co
n
clu
d
es
th
e
p
ap
er
b
y
d
is
cu
s
s
in
g
th
e
s
tr
en
g
t
h
s
an
d
lim
itatio
n
s
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
an
d
o
u
tlin
in
g
d
ir
ec
tio
n
s
f
o
r
f
u
tu
r
e
wo
r
k
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
o
u
tlin
es
th
e
co
m
p
lete
in
teg
r
atio
n
p
r
o
ce
s
s
,
f
r
o
m
th
e
to
o
l
an
d
h
ar
d
war
e
s
e
tu
p
to
th
e
co
n
tr
o
l
ar
ch
itectu
r
e
a
n
d
h
ig
h
-
lev
el
u
s
er
in
ter
f
ac
e,
wh
ich
en
ab
les
th
e
Go
Fa
r
o
b
o
t
to
p
er
f
o
r
m
a
wid
e
r
an
g
e
o
f
wr
itin
g
an
d
d
r
awin
g
task
s
.
2
.
1
.
Sy
s
t
e
m
o
v
er
v
iew
T
h
e
o
v
e
r
all
s
y
s
tem
ar
ch
itectu
r
e
o
f
t
h
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
is
illu
s
tr
ated
in
Fig
u
r
e
1
.
T
h
e
h
ar
d
war
e
co
m
p
o
n
en
ts
ar
e
s
h
o
wn
in
Fig
u
r
e
1
(
a
)
,
wh
er
e
an
AB
B
Go
Fa
co
llab
o
r
ativ
e
r
o
b
o
t
is
eq
u
ip
p
ed
with
a
c
u
s
to
m
-
d
esig
n
ed
en
d
-
e
f
f
ec
to
r
tailo
r
e
d
to
th
e
th
r
ee
tar
g
et
task
s
ad
d
r
ess
ed
in
th
is
s
tu
d
y
,
n
am
ely
wr
itin
g
,
d
r
awin
g
,
a
n
d
clea
n
in
g
.
T
h
e
r
o
b
o
t
is
p
o
wer
e
d
an
d
co
n
tr
o
lled
b
y
an
AB
B
Om
n
iC
o
r
e
C
3
0
co
n
t
r
o
ller
,
wh
ich
is
r
esp
o
n
s
ib
le
f
o
r
m
o
tio
n
e
x
ec
u
tio
n
,
co
m
m
a
n
d
h
an
d
lin
g
,
an
d
co
m
m
u
n
icatio
n
with
p
er
ip
h
er
al
d
e
v
ices.
T
h
e
s
y
s
tem
in
ter
f
ac
es
with
a
u
s
er
-
f
r
ien
d
l
y
HM
I
,
ty
p
ically
d
ep
l
o
y
ed
o
n
a
u
s
er
-
s
id
e
co
m
p
u
ter
,
v
ia
a
T
C
P/IP
n
etwo
r
k
.
T
h
is
HM
I
en
ab
les
u
s
er
s
to
d
ef
in
e
task
p
ar
am
eter
s
an
d
estab
lis
h
es
a
s
o
ck
et
-
b
ased
T
C
P/IP
co
n
n
ec
tio
n
with
th
e
r
o
b
o
t
co
n
tr
o
ller
.
Fig
u
r
e
1
(
b
)
d
e
p
icts
th
e
o
p
er
a
tio
n
al
wo
r
k
f
lo
w
o
f
th
e
f
r
am
e
wo
r
k
.
T
h
e
p
r
o
ce
s
s
b
eg
in
s
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s
er
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elec
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o
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e
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th
e
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r
ee
a
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ailab
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task
m
o
d
es.
I
n
th
e
wr
itin
g
m
o
d
e,
th
e
u
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er
in
p
u
ts
tex
tu
al
co
n
ten
t
an
d
s
p
ec
if
ies
th
e
d
esire
d
f
o
n
t
s
ize
.
I
n
th
e
d
r
awin
g
m
o
d
e,
p
r
e
d
e
f
in
ed
g
eo
m
etr
ic
f
i
g
u
r
es
ar
e
s
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ted
alo
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g
with
th
eir
co
r
r
esp
o
n
d
in
g
d
im
e
n
s
io
n
s
.
I
n
th
e
clea
n
in
g
m
o
d
e,
th
e
r
o
b
o
t
ex
ec
u
tes
er
asin
g
m
o
tio
n
s
to
clea
r
th
e
wo
r
k
s
p
ac
e.
On
ce
th
e
task
p
ar
am
eter
s
ar
e
d
ef
in
ed
,
th
e
HM
I
in
itiates
a
T
C
P/IP
co
n
n
ec
tio
n
to
th
e
Om
n
iC
o
r
e
co
n
tr
o
ller
,
w
h
ich
o
p
er
ates
a
R
API
D
-
b
ased
s
o
ck
et
s
er
v
er
.
T
h
e
o
v
er
all
co
m
m
u
n
icatio
n
f
o
llo
ws
a
clien
t
–
s
er
v
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
7
2
2
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2
5
8
6
I
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I
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J
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b
&
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u
to
m
,
Vo
l
.
1
5
,
No
.
2
,
J
u
n
e
20
2
6
:
281
-
2
9
4
284
ar
ch
ite
ct
u
r
e,
w
h
e
r
e
t
h
e
HM
I
f
u
n
cti
o
n
s
as
th
e
cli
en
t
an
d
t
h
e
r
o
b
o
t
c
o
n
t
r
o
ll
er
a
cts
as
th
e
s
er
v
er
.
T
as
k
c
o
m
m
a
n
d
s
ar
e
th
en
tr
an
s
m
itted
to
t
h
e
r
o
b
o
t
f
o
r
e
x
ec
u
tio
n
.
Up
o
n
task
co
m
p
letio
n
,
t
h
e
r
o
b
o
t
s
en
d
s
f
ee
d
b
ac
k
to
th
e
HM
I
t
o
co
n
f
ir
m
s
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cc
ess
f
u
l e
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tio
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an
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waits f
o
r
s
u
b
s
eq
u
en
t c
o
m
m
an
d
s
,
af
ter
wh
ic
h
th
e
p
r
o
ce
d
u
r
e
r
ep
ea
ts
.
(
a)
(
b
)
Fig
u
r
e
1
.
Sy
s
tem
ar
c
h
itectu
r
e
o
f
th
e
p
r
o
p
o
s
ed
f
r
am
ew
o
r
k
: (
a
)
h
ar
d
war
e
co
n
f
i
g
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r
atio
n
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d
co
m
m
u
n
icatio
n
s
etu
p
an
d
(
b
)
o
p
er
atio
n
al
w
o
r
k
f
lo
w
an
d
task
ex
ec
u
tio
n
p
r
o
ce
s
s
T
h
e
f
o
llo
win
g
s
ec
tio
n
s
p
r
esen
t
th
e
k
ey
tech
n
ical
c
o
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p
o
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en
t
s
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
in
d
e
tail.
First,
th
e
en
d
-
ef
f
ec
t
o
r
d
esig
n
is
in
tr
o
d
u
ce
d
,
co
v
er
in
g
th
e
m
ec
h
an
ical
s
tr
u
ctu
r
e,
m
ater
ial
s
el
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tio
n
,
co
m
p
lian
ce
m
ec
h
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is
m
,
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d
m
o
u
n
tin
g
s
tr
ateg
y
u
s
ed
to
en
s
u
r
e
s
tab
le
an
d
v
er
s
atile
task
ex
ec
u
tio
n
.
Nex
t,
th
e
p
ath
g
en
er
atio
n
wo
r
k
f
lo
w
is
d
escr
ib
ed
,
in
cl
u
d
in
g
th
e
C
AD
-
b
ased
m
o
d
elin
g
p
r
o
ce
s
s
,
th
e
u
s
e
o
f
Au
to
Path
f
o
r
tr
ajec
to
r
y
g
e
n
er
atio
n
,
s
ca
lin
g
o
p
er
atio
n
s
,
a
n
d
tr
ajec
to
r
y
f
o
r
m
attin
g
f
o
r
r
o
b
o
t
ex
ec
u
tio
n
.
T
h
e
HM
I
is
th
en
p
r
esen
ted
,
f
o
cu
s
in
g
o
n
u
s
er
in
p
u
t
h
an
d
lin
g
,
s
o
ck
et
-
b
ased
c
o
m
m
u
n
icatio
n
,
an
d
task
s
elec
tio
n
lo
g
ic.
Fin
ally
,
th
e
co
n
tr
o
l
alg
o
r
ith
m
is
d
etail
ed
,
in
clu
d
i
n
g
th
e
o
v
e
r
all
f
lo
w
ch
ar
t,
d
ata
p
ar
s
in
g
p
r
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ce
d
u
r
es
,
m
o
tio
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p
lan
n
i
n
g
s
tr
ateg
y
,
an
d
e
x
ec
u
tio
n
lo
g
ic
with
in
th
e
r
o
b
o
t c
o
n
t
r
o
ller
.
2
.
2
.
I
nte
g
ra
t
ed
end
-
ef
f
ec
t
o
r
t
o
o
l desig
n a
nd
s
et
up
On
e
o
f
th
e
k
ey
ch
allen
g
es
in
r
o
b
o
tic
wr
itin
g
a
n
d
d
r
awin
g
t
ask
s
lies
in
th
e
d
esig
n
o
f
an
e
n
d
-
ef
f
ec
t
o
r
th
at
en
ab
les
ac
cu
r
ate,
s
tab
le,
an
d
r
ep
ea
tab
le
in
ter
ac
tio
n
with
a
p
lan
ar
wr
itin
g
s
u
r
f
ac
e.
T
h
e
to
o
l
m
u
s
t
b
e
m
ec
h
an
ically
co
m
p
atib
le
with
r
o
b
o
t
k
in
e
m
atics
wh
ile
p
r
o
v
id
in
g
s
u
f
f
icien
t
co
m
p
lian
ce
to
co
m
p
en
s
ate
f
o
r
s
u
r
f
ac
e
u
n
e
v
en
n
ess
an
d
p
o
s
itio
n
in
g
u
n
ce
r
tain
ties
.
B
ased
o
n
th
e
co
n
ce
p
t
in
tr
o
d
u
ce
d
in
[
3
3
]
,
we
d
e
v
elo
p
ed
a
cu
s
to
m
ized
en
d
-
ef
f
ec
t
o
r
,
r
ef
e
r
r
ed
t
o
as
t
h
e
“Pen
to
o
l”,
s
p
ec
if
ically
tailo
r
ed
f
o
r
u
s
e
with
th
e
AB
B
Go
Fa
co
llab
o
r
ativ
e
r
o
b
o
t.
T
h
e
Pen
to
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l
is
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esig
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ed
to
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e
f
u
lly
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m
p
atib
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with
th
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B
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Fa
f
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g
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ter
f
ac
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tweig
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en
o
u
g
h
to
r
em
ai
n
with
in
th
e
r
o
b
o
t’
s
p
ay
l
o
ad
lim
itatio
n
s
,
an
d
ea
s
ily
r
ep
lace
ab
le
to
s
u
p
p
o
r
t
r
ap
id
to
o
l
c
h
an
g
es.
T
o
m
ee
t
th
ese
r
e
q
u
ir
em
e
n
ts
,
th
e
en
tire
s
tr
u
ctu
r
e
is
f
ab
r
icate
d
u
s
in
g
PET
-
G
m
ater
ial
th
r
o
u
g
h
f
u
s
ed
d
ep
o
s
itio
n
m
o
d
elin
g
(
FDM)
3
D
p
r
in
tin
g
.
PET
-
G
was
s
elec
ted
d
u
e
to
it
s
f
av
o
r
ab
le
b
alan
ce
b
etwe
en
m
ec
h
an
ical
s
tr
en
g
th
,
im
p
ac
t
r
esis
tan
ce
,
an
d
f
lex
ib
il
ity
.
T
h
ese
p
r
o
p
er
ties
allo
w
th
e
to
o
l
to
with
s
tan
d
r
e
p
ea
ted
co
n
tact
f
o
r
ce
s
d
u
r
in
g
wr
itin
g
an
d
clea
n
i
n
g
task
s
wh
i
le
m
ain
tain
in
g
s
u
f
f
icie
n
t r
o
b
u
s
tn
ess
f
o
r
lo
n
g
-
ter
m
o
p
er
atio
n
.
T
h
e
m
ec
h
an
ical
s
tr
u
ctu
r
e
o
f
th
e
Pen
to
o
l
co
n
s
is
ts
o
f
f
o
u
r
m
ain
co
m
p
o
n
en
ts
:
a
s
o
ck
et
f
lan
g
e,
a
b
ase
b
o
d
y
,
an
u
p
p
er
b
o
d
y
,
a
n
d
an
in
teg
r
ated
clea
n
in
g
elem
en
t.
T
h
e
s
o
ck
et
f
lan
g
e
is
d
esig
n
ed
to
m
o
u
n
t
s
ec
u
r
ely
o
n
to
th
e
AB
B
Go
Fa
r
o
b
o
t’
s
en
d
-
ef
f
ec
t
o
r
an
d
in
c
o
r
p
o
r
ates
a
s
p
r
in
g
-
lo
ad
ed
lo
c
k
in
g
m
ec
h
an
is
m
th
at
en
ab
les
f
ast,
s
cr
ew
-
f
r
ee
attac
h
m
en
t
a
n
d
r
em
o
v
al.
T
wo
later
al
b
u
tt
o
n
s
ac
tu
ate
th
e
lo
ck
i
n
g
m
ec
h
an
is
m
,
allo
win
g
th
e
to
o
l
to
b
e
r
elea
s
ed
o
r
s
ec
u
r
e
d
with
in
s
ec
o
n
d
s
.
T
h
is
d
esig
n
s
ig
n
if
ican
tly
r
ed
u
ce
s
s
etu
p
tim
e
an
d
s
u
p
p
o
r
ts
r
ap
i
d
s
witch
in
g
b
etwe
en
d
if
f
e
r
en
t e
n
d
-
ef
f
ec
t
o
r
s
d
u
r
i
n
g
e
x
p
er
im
en
ts
o
r
d
em
o
n
s
tr
atio
n
s
in
Fig
u
r
e
2
.
T
h
e
m
ain
b
o
d
y
o
f
th
e
Pen
to
o
l
em
p
lo
y
s
a
m
o
d
u
lar
two
-
p
a
r
t
s
tr
u
ctu
r
e
co
n
s
is
tin
g
o
f
a
b
ase
an
d
an
u
p
p
er
b
o
d
y
c
o
n
n
ec
ted
th
r
o
u
g
h
a
twis
t
-
lo
ck
m
ec
h
an
is
m
.
T
h
is
co
n
f
ig
u
r
atio
n
allo
ws
q
u
ick
r
ep
lace
m
en
t
o
f
th
e
wr
itin
g
in
s
tr
u
m
en
t
with
o
u
t
d
i
s
ass
em
b
lin
g
th
e
en
tire
to
o
l.
A
co
m
p
r
ess
io
n
s
p
r
in
g
is
in
teg
r
a
ted
in
s
id
e
th
e
b
ase,
p
r
o
v
id
i
n
g
c
o
n
tr
o
lled
ax
ial
co
m
p
lian
ce
alo
n
g
th
e
to
o
l’
s
v
e
r
tical
ax
is
.
T
h
is
co
m
p
lian
ce
co
m
p
en
s
ates
f
o
r
m
in
o
r
h
eig
h
t
v
ar
iatio
n
s
o
f
th
e
wr
iti
n
g
s
u
r
f
ac
e
an
d
en
s
u
r
es
co
n
s
is
ten
t
co
n
tact
f
o
r
ce
b
etwe
en
th
e
p
en
tip
an
d
th
e
s
u
r
f
ac
e,
th
er
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y
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p
r
o
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i
n
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e
q
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ality
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d
r
ed
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cin
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th
e
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i
s
k
o
f
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ce
s
s
iv
e
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n
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o
r
ce
th
at
co
u
ld
d
am
ag
e
eith
er
th
e
to
o
l
o
r
th
e
wr
itin
g
m
ed
iu
m
.
T
h
e
e
f
f
ec
tiv
e
c
o
m
p
l
ian
ce
r
an
g
e
is
ap
p
r
o
x
im
ately
5
–
8
m
m
,
wh
ich
was
ex
p
er
im
en
tally
d
eter
m
in
ed
to
b
e
s
u
f
f
icien
t f
o
r
s
tab
le
wr
itin
g
p
er
f
o
r
m
an
ce
.
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
A
p
a
th
g
e
n
era
tio
n
a
n
d
c
o
n
tr
o
l fra
mewo
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fo
r
6
-
DOF
r
o
b
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t in
p
r
ec
is
io
n
w
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itin
g
…
(
K
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i H
o
a
n
g
Din
h
)
285
Fig
u
r
e
2
.
T
h
e
s
o
ck
et
f
la
n
g
e
wi
th
a
s
p
r
in
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l
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o
ck
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g
m
e
ch
an
is
m
f
o
r
q
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ick
,
s
cr
ew
-
f
r
ee
to
o
l a
ttach
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en
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th
e
r
o
b
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t'
s
en
d
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ef
f
ec
to
r
I
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ad
d
itio
n
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a
clea
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p
ad
m
o
u
n
ted
at
a
4
5
-
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eg
r
ee
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le
o
n
th
e
u
p
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e
r
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les
th
e
r
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b
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t
to
p
er
f
o
r
m
s
elf
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ase
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I
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A
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atio
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ased
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ates o
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ated
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m
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itin
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eh
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o
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teg
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ate
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ee
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atu
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tr
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to
r
ies.
2
.
4
.
H
u
m
a
n
–
m
a
chine int
er
f
a
ce
(
H
M
I
)
T
h
e
h
u
m
an
–
m
ac
h
in
e
in
te
r
f
a
ce
(
HM
I
)
,
s
h
o
wn
in
Fig
u
r
e
6
,
p
r
o
v
i
d
es
an
in
tu
itiv
e
p
latf
o
r
m
f
o
r
co
n
f
ig
u
r
in
g
an
d
ex
ec
u
tin
g
r
o
b
o
t
task
s
.
T
h
e
in
ter
f
ac
e
is
o
r
g
an
ized
in
to
th
r
ee
f
u
n
ctio
n
a
l
m
o
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es:
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itin
g
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r
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n
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clea
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n
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itin
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er
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ize.
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d
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m
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e,
u
s
er
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d
s
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s
t
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d
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u
r
e
6
.
User
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HM
I
2
.
4
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1
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Co
mm
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e
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t
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r
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itectu
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im
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er
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ten
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o
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t
1
0
2
5
.
On
ce
co
n
n
ec
ted
,
th
e
HM
I
tr
an
s
m
its
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
5
8
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2
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n
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20
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6
:
281
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2
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ctu
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ty
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g
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h
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t m
ess
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o
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m
at
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in
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illi
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s
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u
f
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tr
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l.
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asic
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r
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r
h
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li
n
g
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im
p
lem
e
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te
d
to
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o
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ed
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ata
a
n
d
n
o
tify
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h
e
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s
er
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ca
s
e
o
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tio
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r
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en
s
u
r
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s
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d
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eliab
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o
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er
atio
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.
2
.
4
.
2
.
E
x
ec
utio
n
f
ee
db
a
ck
a
n
d e
rr
o
r
ha
nd
lin
g
On
ce
a
co
m
m
an
d
is
r
ec
eiv
e
d
,
th
e
r
o
b
o
t
co
n
tr
o
ller
v
alid
ates
th
e
d
ata
f
o
r
m
at
an
d
in
i
tiates
th
e
co
r
r
esp
o
n
d
in
g
R
API
D
r
o
u
tin
e.
E
x
ec
u
tio
n
s
tatu
s
m
ess
a
g
es
,
in
clu
d
in
g
task
s
tar
t,
co
m
p
letio
n
,
o
r
er
r
o
r
n
o
tific
atio
n
s
,
ar
e
s
en
t
b
ac
k
to
th
e
HM
I
in
r
ea
l
tim
e.
T
h
is
f
ee
d
b
ac
k
is
also
d
is
p
lay
ed
in
th
e
HM
I
p
an
el
s
h
o
wn
in
Fig
u
r
e
6
,
all
o
win
g
u
s
er
s
to
m
o
n
ito
r
s
y
s
tem
s
tate
an
d
ex
ec
u
tio
n
p
r
o
g
r
ess
.
B
asic
er
r
o
r
h
a
n
d
lin
g
m
ec
h
an
is
m
s
ar
e
im
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lem
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ted
to
en
s
u
r
e
s
af
e
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d
r
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le
o
p
er
atio
n
.
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f
a
c
o
n
n
ec
tio
n
attem
p
t
f
ails
,
th
e
H
MI
n
o
tifie
s
th
e
u
s
er
an
d
p
r
ev
en
ts
c
o
m
m
an
d
tr
a
n
s
m
is
s
io
n
u
n
til
co
m
m
u
n
icatio
n
is
r
esto
r
ed
.
Similar
ly
,
m
alf
o
r
m
ed
o
r
i
n
co
m
p
lete
d
ata
p
ac
k
ets
ar
e
r
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ted
b
y
t
h
e
co
n
tr
o
ller
,
an
d
a
n
er
r
o
r
m
ess
ag
e
is
r
etu
r
n
ed
to
th
e
HM
I
.
T
h
ese
m
ea
s
u
r
es
p
r
ev
en
t
u
n
in
ten
d
ed
r
o
b
o
t
m
o
ti
o
n
an
d
en
h
a
n
ce
s
y
s
tem
r
o
b
u
s
tn
ess
d
u
r
in
g
o
p
er
atio
n
.
2
.
5
.
Co
ntr
o
l
a
lg
o
rit
hm
a
nd
m
o
t
io
n e
x
e
cut
io
n
T
h
is
s
ec
tio
n
o
u
tlin
es
th
e
co
n
tr
o
l
s
ch
em
e
d
ev
elo
p
ed
to
p
r
o
ce
s
s
u
s
er
in
p
u
t
in
to
ex
ec
u
tab
le
co
m
m
an
d
s
f
o
r
th
e
AB
B
Go
Fa
r
o
b
o
t.
C
o
m
m
u
n
icatio
n
b
eg
in
s
with
a
T
C
P/IP
s
o
ck
et
co
n
n
ec
tio
n
b
etwe
en
th
e
HM
I
clien
t
an
d
th
e
r
o
b
o
t
co
n
t
r
o
ller
.
T
h
e
u
s
er
co
n
f
i
g
u
r
es
th
e
c
o
r
r
ec
t
I
P
ad
d
r
ess
an
d
p
o
r
t
to
m
atch
th
e
r
o
b
o
t’
s
s
ettin
g
s
.
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ce
co
n
n
ec
ted
,
th
e
s
y
s
tem
is
r
ea
d
y
t
o
r
ec
eiv
e
co
m
m
an
d
s
.
T
h
e
HM
I
s
u
p
p
o
r
ts
two
m
ain
f
u
n
ctio
n
s
:
wr
itin
g
/d
r
awin
g
an
d
clea
n
in
g
,
with
th
e
ap
p
r
o
p
r
iate
to
o
l
s
elec
ted
f
o
r
ea
ch
.
User
s
ca
n
in
p
u
t
tex
t
an
d
f
o
n
t
s
ize
o
r
ch
o
o
s
e
p
r
ed
ef
in
e
d
f
i
g
u
r
es
f
r
o
m
a
g
r
a
p
h
ical
lib
r
a
r
y
.
W
h
en
th
e
“Sen
d
”
b
u
tto
n
is
p
r
ess
ed
,
th
e
d
ata
is
en
c
o
d
ed
an
d
tr
an
s
m
itted
to
t
h
e
co
n
t
r
o
ll
er
f
o
r
p
r
o
ce
s
s
in
g
.
Up
o
n
r
ec
eiv
in
g
a
co
m
m
an
d
,
th
e
r
o
b
o
t
co
n
t
r
o
ller
p
r
o
ce
s
s
es
th
e
in
p
u
t
ac
co
r
d
in
g
to
its
ty
p
e
:
tex
t,
d
r
awin
g
,
o
r
clea
n
i
n
g
.
Fo
r
tex
t
in
p
u
t,
th
e
co
n
ten
t is p
ar
s
ed
ch
ar
ac
ter
b
y
ch
ar
ac
ter
,
with
ea
ch
ch
ar
ac
ter
m
atch
ed
to
a
co
r
r
esp
o
n
d
i
n
g
en
tr
y
in
a
lo
ca
l
s
tr
o
k
e
lib
r
ar
y
an
d
s
ca
led
to
th
e
s
p
ec
if
ied
f
o
n
t
s
ize.
Dr
awin
g
in
p
u
ts
ar
e
h
an
d
led
u
s
in
g
p
r
e
d
ef
in
e
d
tem
p
lates,
wh
ich
a
r
e
s
im
ilar
ly
s
ca
led
to
th
e
u
s
er
-
d
e
f
in
ed
d
im
e
n
s
io
n
s
.
Fo
r
clea
n
in
g
o
p
er
atio
n
s
,
two
m
o
d
es
ar
e
s
u
p
p
o
r
ted
:
s
elec
tiv
e
clea
n
in
g
an
d
f
u
ll
-
s
u
r
f
ac
e
clea
n
in
g
.
I
n
s
elec
tiv
e
m
o
d
e,
th
e
u
s
er
s
p
ec
if
ies
a
r
ec
tan
g
u
lar
r
eg
i
o
n
o
n
th
e
b
o
ar
d
to
b
e
clea
n
ed
.
I
n
f
u
ll
-
s
u
r
f
ac
e
m
o
d
e,
th
e
r
o
b
o
t
ex
ec
u
tes
a
co
v
er
ag
e
p
ath
o
v
er
t
h
e
en
tire
p
r
e
v
io
u
s
ly
m
ar
k
e
d
ar
ea
to
e
n
s
u
r
e
co
m
p
lete
clea
n
in
g
.
T
o
o
l
c
h
an
g
es,
p
o
s
itio
n
in
g
,
wo
r
k
s
p
ac
e
b
o
u
n
d
ar
ies,
an
d
s
af
ety
ch
ec
k
s
ar
e
s
y
s
tem
atica
l
ly
h
an
d
led
f
o
r
ea
ch
m
o
d
e
p
r
io
r
to
ex
ec
u
tio
n
t
o
en
s
u
r
e
r
eliab
le
an
d
s
af
e
o
p
e
r
at
io
n
.
T
h
e
f
in
al
o
u
t
p
u
t
is
a
n
o
r
m
alize
d
lis
t
o
f
p
ath
p
o
i
n
ts
,
m
ea
n
in
g
th
at
all
co
o
r
d
in
ates
ar
e
tr
a
n
s
f
o
r
m
ed
in
t
o
a
co
n
s
is
ten
t
r
ef
e
r
en
ce
f
r
am
e
,
en
s
u
r
in
g
th
at
p
ath
s
g
en
e
r
ated
f
r
o
m
d
if
f
e
r
en
t
i
n
p
u
t
ty
p
es
—
tex
t,
d
r
awin
g
s
,
o
r
clea
n
in
g
c
o
m
m
an
d
s
—
s
h
ar
e
a
co
m
m
o
n
co
o
r
d
in
ate
b
asis
.
T
h
is
u
n
if
ied
r
ep
r
esen
tatio
n
is
t
h
en
p
ass
ed
to
t
h
e
m
o
tio
n
p
lan
n
i
n
g
m
o
d
u
le
f
o
r
tr
ajec
to
r
y
g
en
er
atio
n
a
n
d
ex
ec
u
tio
n
.
A
d
etailed
f
lo
wch
a
r
t
o
f
th
e
o
v
er
all
co
n
t
r
o
l
f
r
am
ewo
r
k
is
s
h
o
wn
in
Fig
u
r
e
7.
Fig
u
r
e
7
.
C
o
n
tr
o
l a
lg
o
r
ith
m
f
o
r
wr
itin
g
,
d
r
awin
g
an
d
clea
n
in
g
task
s
u
s
in
g
th
e
AB
B
Go
Fa
r
o
b
o
t
Mo
tio
n
ex
ec
u
tio
n
is
p
er
f
o
r
m
ed
b
y
th
e
Om
n
iC
o
r
e
co
n
t
r
o
ll
er
.
Fo
r
ea
ch
tr
ajec
to
r
y
s
eg
m
e
n
t,
m
o
tio
n
p
ar
am
eter
s
s
u
ch
as
v
elo
city
,
a
cc
eler
atio
n
,
an
d
b
len
d
i
n
g
zo
n
e
ar
e
ex
p
licitly
d
ef
i
n
ed
to
e
n
s
u
r
e
s
m
o
o
th
a
n
d
s
af
e
o
p
er
atio
n
.
T
y
p
ical
p
ar
am
eter
s
in
clu
d
e
m
o
d
er
ate
lin
ea
r
v
e
lo
cities
f
o
r
wr
itin
g
an
d
d
r
awin
g
task
s
,
r
ed
u
ce
d
ac
c
ele
r
a
ti
o
n
n
e
ar
s
u
r
f
a
ce
c
o
n
ta
ct,
a
n
d
f
i
n
e
b
le
n
d
i
n
g
zo
n
es t
o
m
ai
n
t
ai
n
co
n
t
i
n
u
o
u
s
m
o
ti
o
n
w
ith
o
u
t
a
b
r
u
p
t
s
t
o
p
s
.
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
A
p
a
th
g
e
n
era
tio
n
a
n
d
c
o
n
tr
o
l fra
mewo
r
k
fo
r
6
-
DOF
r
o
b
o
t in
p
r
ec
is
io
n
w
r
itin
g
…
(
K
h
o
i H
o
a
n
g
Din
h
)
289
B
ef
o
r
e
ex
ec
u
tio
n
,
s
af
ety
ch
ec
k
s
ar
e
ap
p
lied
t
o
v
e
r
if
y
t
h
at
a
ll
tar
g
et
p
o
in
ts
lie
with
in
t
h
e
p
r
ed
ef
in
e
d
wo
r
k
s
p
ac
e
lim
its
an
d
th
at
n
o
to
o
l
co
llis
io
n
s
ar
e
ex
p
ec
ted
.
I
f
a
v
io
latio
n
is
d
etec
ted
,
ex
ec
u
tio
n
is
ab
o
r
ted
an
d
a
war
n
in
g
is
s
en
t
to
th
e
H
MI
.
On
ce
v
alid
ated
,
th
e
r
o
b
o
t
ex
ec
u
tes
th
e
tr
ajec
to
r
y
s
eq
u
en
tially
.
Statu
s
f
ee
d
b
ac
k
,
in
clu
d
in
g
ex
ec
u
tio
n
s
tar
t,
co
m
p
letio
n
,
o
r
er
r
o
r
c
o
n
d
itio
n
s
,
is
co
n
tin
u
o
u
s
ly
tr
an
s
m
itted
b
ac
k
to
th
e
HM
I
,
allo
win
g
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
.
T
h
e
o
v
e
r
all
p
r
o
ce
d
u
r
e
o
f
p
lan
n
in
g
an
d
ex
ec
u
tio
n
is
s
u
m
m
ar
ized
in
Alg
o
r
ith
m
2.
Alg
o
r
ith
m
2
.
Mo
tio
n
p
lan
n
in
g
an
d
ex
ec
u
tio
n
p
r
o
ce
d
u
r
e
Input
: Command
= {
τ, θ}
Output
: Status y
∈
{DONE, ERROR}
1. Receive
2. If ToolSelected(τ) = false then return ERROR
3. I ← (τ = ERASE) ? Erase(θ)
: (τ = WRITE) ? Write(Parse(θ), Font(θ))
: Draw(Figure(θ), Scale(θ))
4. SetStartPose(); SendExecute()
5. If Ack() = false then return ERROR
6. Execute(I); return DONE
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
p
r
esen
ts
s
ev
er
al
p
er
f
o
r
m
an
ce
s
o
f
th
e
Go
Fa
r
o
b
o
t
in
wr
itin
g
an
d
d
r
awin
g
ta
s
k
s
.
Af
ter
co
m
p
letin
g
th
e
lib
r
ar
y
f
o
r
le
tter
s
,
n
u
m
b
e
r
s
an
d
im
a
g
es,
t
h
e
r
o
b
o
t
is
ab
le
t
o
e
x
ec
u
te
th
e
g
iv
e
n
m
o
tio
n
s
ac
cu
r
ately
an
d
is
ab
le
to
wr
ite
an
y
tex
t a
n
d
d
r
aw
a
n
y
im
a
g
e.
3
.
1
.
M
o
t
io
n
pa
r
a
m
et
er
s
a
nd
s
a
f
et
y
co
ns
idera
t
io
ns
All
ex
p
er
im
en
ts
wer
e
co
n
d
u
cted
u
s
in
g
a
co
n
s
is
ten
t
s
et
o
f
m
o
tio
n
p
a
r
am
eter
s
an
d
e
x
p
er
im
en
tal
co
n
d
itio
n
s
;
a
n
y
d
ev
iatio
n
f
r
o
m
th
ese
s
ettin
g
s
is
e
x
p
licitly
s
tated
wh
er
e
a
p
p
licab
le.
C
ar
tesi
an
lin
ea
r
m
o
tio
n
s
wer
e
em
p
lo
y
e
d
f
o
r
all
wr
itin
g
,
d
r
awin
g
,
an
d
clea
n
in
g
task
s
to
en
s
u
r
e
ac
cu
r
ate
s
u
r
f
ac
e
-
f
o
llo
win
g
b
eh
a
v
io
r
.
T
h
e
m
ax
im
u
m
lin
ea
r
v
elo
city
was
s
et
to
1
0
0
0
m
m
/s
f
o
r
m
o
s
t
tr
ajec
to
r
ies,
wh
ile
ac
ce
ler
atio
n
lim
its
wer
e
au
to
m
atica
lly
m
an
a
g
ed
b
y
t
h
e
AB
B
Om
n
iC
o
r
e
co
n
tr
o
lle
r
to
m
ain
tain
s
m
o
o
th
co
n
tac
t
with
th
e
wr
itin
g
s
u
r
f
ac
e.
T
o
m
a
x
im
ize
p
o
s
itio
n
in
g
ac
c
u
r
ac
y
an
d
s
tr
o
k
e
f
id
elit
y
,
th
e
tr
an
s
itio
n
(
b
le
n
d
in
g
)
z
o
n
e
was
s
et
to
ze
r
o
,
f
o
r
cin
g
t
h
e
r
o
b
o
t
to
r
ea
ch
ea
ch
tar
g
et
p
o
in
t
p
r
ec
is
ely
b
e
f
o
r
e
m
o
v
in
g
to
th
e
n
ex
t.
M
o
tio
n
in
ter
p
o
latio
n
an
d
v
elo
city
p
r
o
f
ile
g
en
er
atio
n
ar
e
h
an
d
led
i
n
ter
n
ally
b
y
th
e
Om
n
iC
o
r
e
co
n
tr
o
ller
,
wh
ich
f
o
llo
ws
th
e
s
tan
d
ar
d
tr
ap
ez
o
id
al
v
el
o
city
p
r
o
f
ile
d
ef
in
ed
in
AB
B
R
A
PID
m
o
tio
n
p
lan
n
i
n
g
,
c
o
n
s
is
tin
g
o
f
ac
c
eler
atio
n
,
co
n
s
tan
t
-
v
elo
city
,
an
d
d
ec
eler
atio
n
p
h
a
s
es.
Saf
ety
ch
ec
k
s
ar
e
s
y
s
tem
atica
lly
ap
p
lied
p
r
io
r
to
ex
ec
u
tio
n
to
en
s
u
r
e
r
eliab
le
an
d
r
ep
ea
tab
le
o
p
er
atio
n
.
All
g
e
n
er
ated
tar
g
et
p
o
in
ts
ar
e
v
er
if
ied
to
lie
with
in
p
r
ed
ef
in
ed
wo
r
k
s
p
ac
e
b
o
u
n
d
a
r
ies
co
r
r
esp
o
n
d
in
g
t
o
th
e
p
h
y
s
ical
wr
itin
g
s
u
r
f
ac
e.
D
u
r
in
g
all
e
x
p
er
im
en
ts
,
th
e
c
o
m
m
an
d
ed
m
o
tio
n
alo
n
g
th
e
-
ax
is
is
k
ep
t
co
n
s
tan
t.
Ver
tical
co
m
p
lian
ce
is
in
s
tead
p
r
o
v
id
ed
b
y
th
e
s
p
r
in
g
m
e
ch
an
is
m
in
teg
r
ated
in
to
th
e
Pen
to
o
l,
wh
ich
allo
ws
a
d
is
p
lace
m
en
t
o
f
a
p
p
r
o
x
im
ately
±
5
m
m
alo
n
g
th
e
-
d
ir
ec
tio
n
.
T
h
is
co
m
p
lian
ce
is
s
u
f
f
icien
t
to
c
o
m
p
en
s
ate
f
o
r
m
in
o
r
h
eig
h
t
i
n
co
n
s
is
ten
cies
o
f
th
e
wr
itin
g
s
u
r
f
ac
e
wh
ile
m
ain
tain
in
g
s
tab
le
co
n
tact
f
o
r
ce
.
T
o
en
s
u
r
e
r
e
p
r
o
d
u
cib
ilit
y
,
all
ex
p
er
i
m
en
ts
wer
e
p
er
f
o
r
m
ed
u
s
in
g
th
e
s
am
e
h
ar
d
war
e
a
n
d
s
o
f
twar
e
co
n
f
ig
u
r
atio
n
.
C
AD
m
o
d
els
wer
e
cr
ea
ted
u
s
in
g
So
lid
W
o
r
k
s
,
an
d
p
ath
g
e
n
er
atio
n
was
ca
r
r
ied
o
u
t
in
AB
B
R
o
b
o
tSt
u
d
io
u
s
in
g
th
e
Au
t
o
Path
f
ea
tu
r
e.
T
h
e
r
o
b
o
t
was
co
n
tr
o
lled
b
y
a
n
AB
B
Om
n
iC
o
r
e
co
n
tr
o
ller
r
u
n
n
i
n
g
R
o
b
o
tW
ar
e
v
7
.
1
8
.
Prio
r
to
e
x
p
er
im
en
tatio
n
,
t
h
e
wo
r
k
s
p
ac
e
an
d
to
o
l
co
n
f
ig
u
r
atio
n
wer
e
c
alib
r
ated
o
n
ce
a
n
d
r
eu
s
ed
co
n
s
is
ten
tly
ac
r
o
s
s
all
tr
ials
.
3
.
1
.
T
ex
t
writ
ing
perf
o
rma
nce
a
nd
pa
t
h g
ener
a
t
io
n
W
e
d
ev
elo
p
ed
a
lib
r
ar
y
co
n
tain
in
g
all
2
6
letter
s
o
f
th
e
E
n
g
lis
h
alp
h
a
b
et
(
b
o
th
u
p
p
er
ca
s
e
an
d
lo
wer
ca
s
e)
,
as
well
as
d
ig
its
f
r
o
m
0
to
9
.
Dep
e
n
d
in
g
o
n
th
e
c
o
m
p
lex
ity
o
f
ea
ch
ch
ar
ac
te
r
’
s
s
h
ap
e,
b
etwe
en
1
0
to
5
0
p
ath
p
o
in
ts
ar
e
ty
p
ically
r
eq
u
ir
e
d
to
ac
c
u
r
ately
r
e
p
r
esen
t
it.
Simp
ler
ch
ar
ac
te
r
s
s
u
ch
as
“i”,
“I
”,
o
r
“l”
,
“L
”
r
eq
u
ir
e
f
ewe
r
p
o
in
ts
,
w
h
er
ea
s
m
o
r
e
co
m
p
le
x
ch
a
r
ac
ter
s
lik
e
“g
”,
“G”
,
o
r
“
q
”,
“
Q”
d
em
an
d
d
en
s
er
tr
ajec
to
r
ies
f
o
r
p
r
ec
is
e
r
en
d
e
r
in
g
.
L
in
ea
r
s
tr
o
k
es
ar
e
ex
e
cu
ted
u
s
in
g
s
tr
aig
h
t
-
lin
e
m
o
t
io
n
s
,
wh
ile
cu
r
v
ed
s
eg
m
en
ts
,
s
u
ch
as
t
h
o
s
e
in
“
c”
,
“C”,
o
r
“s”,
“S”
,
ar
e
h
an
d
led
u
s
in
g
cir
cu
la
r
m
o
tio
n
s
.
All
p
ath
p
o
in
ts
ar
e
au
to
m
atica
lly
g
en
e
r
ated
u
s
in
g
th
e
p
r
o
ce
d
u
r
e
m
e
n
tio
n
ed
ab
o
v
e,
with
o
n
ly
m
i
n
o
r
m
an
u
al
r
ef
in
em
en
ts
.
T
h
ese
r
ef
in
em
en
ts
in
clu
d
e
ad
j
u
s
tin
g
th
e
to
o
l
o
r
ien
tatio
n
to
e
n
s
u
r
e
p
r
o
p
er
alig
n
m
en
t
d
u
r
in
g
wr
itin
g
,
r
ep
o
s
itio
n
in
g
s
tar
tin
g
p
o
in
ts
t
o
m
im
ic
ty
p
ic
al
h
u
m
a
n
wr
itin
g
b
e
h
av
io
r
,
a
n
d
f
i
n
e
-
tu
n
i
n
g
p
ath
p
o
in
ts
t
o
m
o
r
e
cl
o
s
ely
f
o
llo
w
th
e
co
n
to
u
r
s
o
f
ce
r
tain
ch
a
r
ac
t
er
s
.
T
h
ese
im
p
r
o
v
em
en
ts
h
elp
en
h
an
ce
th
e
n
atu
r
al
ap
p
ea
r
an
ce
an
d
ac
c
u
r
ac
y
o
f
th
e
r
o
b
o
t'
s
wr
itin
g
m
o
tio
n
s
.
Fo
r
m
u
lti
-
lin
e
tex
t
in
p
u
t,
th
e
r
o
b
o
t
e
x
ec
u
tes
a
lin
e
-
by
-
lin
e
wr
itin
g
s
eq
u
en
ce
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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7
2
2
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2
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AE
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t
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&
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6
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m
o
v
in
g
f
r
o
m
lef
t
to
r
i
g
h
t
ac
r
o
s
s
ea
ch
lin
e,
th
en
r
etu
r
n
in
g
to
th
e
lef
t
m
ar
g
in
an
d
s
h
if
tin
g
d
o
wn
war
d
b
y
a
co
n
s
tan
t
s
p
ac
in
g
b
ef
o
r
e
c
o
n
tin
u
in
g
with
th
e
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ex
t
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e.
T
h
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m
o
tio
n
p
atter
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clo
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ely
im
itates
h
u
m
an
h
an
d
wr
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a
n
d
e
n
s
u
r
es u
n
if
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m
ch
ar
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ter
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en
t a
c
r
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lin
es.
T
h
r
o
u
g
h
t
h
e
HM
I
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u
s
er
s
ca
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en
ter
cu
s
to
m
tex
t
an
d
s
p
ec
if
y
d
esire
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f
o
n
t
s
izes.
T
h
is
in
p
u
t
is
th
en
en
co
d
ed
an
d
tr
a
n
s
m
itted
to
t
h
e
r
o
b
o
t
f
o
r
ex
ec
u
tio
n
.
Fig
u
r
e
8
p
r
esen
ts
s
ev
er
al
ex
am
p
le
s
o
f
th
e
AB
B
Go
Fa
r
o
b
o
t
p
e
r
f
o
r
m
in
g
wr
itin
g
an
d
d
r
awin
g
task
s
.
I
n
p
ar
ticu
lar
,
Fig
u
r
e
8
(
a
)
illu
s
tr
ate
s
th
e
r
o
b
o
t
ex
ec
u
tin
g
tex
t
-
wr
itin
g
o
p
er
atio
n
s
with
s
m
o
o
th
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d
p
r
ec
is
e
m
o
tio
n
a
cr
o
s
s
d
if
f
er
en
t
f
o
n
t
s
izes.
W
h
ile
th
e
p
r
esen
t
im
p
lem
en
tatio
n
s
u
p
p
o
r
ts
o
n
ly
th
e
E
n
g
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h
alp
h
ab
et,
th
e
p
r
o
p
o
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ed
ap
p
r
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h
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ea
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ily
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tab
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m
p
lex
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o
n
t
s
ty
les
o
r
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u
ltil
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g
u
al
in
p
u
ts
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as
lo
n
g
as
th
e
ch
ar
ac
ter
s
c
an
b
e
r
ep
r
esen
ted
as
So
lid
W
o
r
k
s
m
o
d
els
f
o
r
p
ath
p
o
in
t
g
en
er
atio
n
.
I
t
is
also
wo
r
th
n
o
tin
g
th
at
th
e
wr
itin
g
s
u
r
f
ac
e
u
s
ed
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o
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r
ex
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e
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im
en
ts
is
n
o
t
p
er
f
ec
tly
f
lat,
with
s
lig
h
t
h
eig
h
t
v
a
r
iatio
n
s
a
cr
o
s
s
th
e
b
o
ar
d
.
Ho
wev
e
r
,
th
a
n
k
s
to
th
e
in
te
g
r
ated
s
p
r
in
g
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ec
h
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is
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in
o
u
r
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e
n
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o
l,
th
e
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b
o
t c
an
m
ain
tain
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n
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is
ten
t c
o
n
tact
with
th
e
s
u
r
f
ac
e,
en
ab
lin
g
s
u
cc
ess
f
u
l w
r
itin
g
with
o
u
t e
x
ce
s
s
iv
e
p
r
ess
u
r
e
o
r
lo
s
s
o
f
c
o
n
tact.
(
a)
(
b
)
(
c)
Fig
u
r
e
8
.
E
x
am
p
les o
f
th
e
AB
B
Go
Fa
r
o
b
o
t p
er
f
o
r
m
i
n
g
wr
it
in
g
an
d
d
r
awin
g
task
s
:
(
a
)
tex
t
wr
itin
g
in
v
a
r
io
u
s
f
o
n
t size
,
an
d
d
r
awin
g
co
m
p
le
x
f
ig
u
r
es
o
f
(
b
)
th
e
s
im
p
le
“c
o
o
p
er
ativ
e”
s
y
m
b
o
l a
n
d
(
c
)
t
h
e
u
n
iv
er
s
ity
lo
g
o
3
.
2
.
Sy
m
bo
l a
nd
im
a
g
e
dra
wing
perf
o
rm
a
nce
Fo
r
d
r
awin
g
task
s
,
alth
o
u
g
h
p
ath
p
o
in
ts
ar
e
au
t
o
m
atica
lly
g
en
er
ated
to
f
o
llo
w
th
e
co
n
to
u
r
s
o
f
a
g
iv
en
s
y
m
b
o
l
o
r
im
ag
e,
ad
d
it
io
n
al
r
ef
i
n
em
en
t
is
o
f
ten
n
ec
ess
ar
y
,
p
ar
ticu
lar
ly
f
o
r
lar
g
e,
co
m
p
lex
,
o
r
h
ig
h
ly
d
etailed
f
ig
u
r
es.
C
o
m
p
ar
ed
to
tex
t
wr
itin
g
,
s
y
m
b
o
l
an
d
im
ag
e
d
r
awin
g
t
y
p
ically
r
e
q
u
ir
e
m
o
r
e
p
o
s
t
-
p
r
o
ce
s
s
in
g
to
en
s
u
r
e
v
is
u
al
f
id
elity
an
d
n
atu
r
al
m
o
tio
n
.
I
n
ca
s
es
wh
e
r
e
a
f
i
g
u
r
e
co
n
s
is
ts
o
f
m
u
ltip
le
lay
er
s
o
r
n
ested
co
n
to
u
r
s
,
m
a
n
u
al
s
elec
tio
n
o
f
in
d
iv
id
u
al
co
n
to
u
r
s
m
ay
b
e
n
ee
d
ed
d
u
r
in
g
th
e
p
at
h
g
e
n
er
atio
n
p
r
o
ce
s
s
to
ac
h
iev
e
th
e
d
esire
d
lev
el
o
f
ac
cu
r
ac
y
.
T
h
e
n
u
m
b
e
r
o
f
p
ath
p
o
i
n
ts
r
eq
u
ir
ed
to
ca
p
tu
r
e
a
f
ig
u
r
e
d
ep
en
d
s
lar
g
ely
o
n
its
co
m
p
lex
ity
.
Fo
r
ex
am
p
le,
th
e
s
im
p
le
“c
o
o
p
er
a
tiv
e”
s
y
m
b
o
l
illu
s
tr
ated
in
Fig
u
r
e
8
(
b
)
r
e
q
u
ir
es
ap
p
r
o
x
im
ate
ly
2
4
3
p
ath
p
o
i
n
ts
,
wh
ile
th
e
u
n
iv
er
s
ity
lo
g
o
in
F
ig
u
r
e
8
(
c
)
in
v
o
l
v
es
ar
o
u
n
d
6
5
5
p
ath
p
o
in
ts
d
u
e
to
its
in
tr
icate
d
esig
n
a
n
d
f
in
e
r
s
tr
u
ctu
r
al
d
etails.
I
n
o
u
r
im
p
lem
en
tatio
n
,
b
o
th
s
y
m
b
o
ls
an
d
i
m
ag
es
ar
e
s
to
r
ed
i
n
a
p
r
ed
ef
in
ed
lib
r
ar
y
an
d
ca
n
b
e
ac
ce
s
s
ed
v
ia
th
e
HM
I
,
wh
er
e
u
s
er
s
ca
n
also
f
r
ee
ly
ad
ju
s
t
th
e
s
ca
le
o
f
th
e
d
r
awin
g
.
Fig
u
r
es
8
(
b
)
an
d
8
(
c
)
s
h
o
wca
s
e
th
e
Go
Fa
r
o
b
o
t
s
u
cc
ess
f
u
lly
ex
ec
u
tin
g
d
r
awin
g
task
s
with
v
ar
y
in
g
lev
els
o
f
co
m
p
lex
ity
,
d
em
o
n
s
tr
atin
g
t
h
e
f
lex
ib
ilit
y
a
n
d
p
r
ec
is
io
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
.
3
.
3
.
Aut
o
m
a
t
ed
bo
a
rd
clea
nin
g
wit
h m
o
un
t
ing
pa
d inte
g
ra
t
io
n
T
o
en
a
b
le
au
to
n
o
m
o
u
s
b
o
a
r
d
m
ain
ten
an
ce
,
th
e
Go
Fa
r
o
b
o
t
is
eq
u
ip
p
ed
with
a
cu
s
to
m
-
d
esig
n
ed
m
o
u
n
tin
g
p
ad
f
o
r
clea
n
in
g
o
p
er
atio
n
s
.
Fo
r
th
is
task
,
th
e
s
y
s
tem
s
witch
es
th
e
T
o
o
l
C
en
ter
Po
in
t
(
T
C
P)
to
th
e
o
n
e
co
r
r
esp
o
n
d
i
n
g
to
th
e
clea
n
in
g
p
a
d
an
d
e
x
ec
u
tes
a
p
r
ed
ef
in
ed
m
o
tio
n
s
eq
u
en
ce
o
p
tim
ized
f
o
r
wip
in
g
th
e
b
o
ar
d
s
u
r
f
ac
e
.
T
h
e
clea
n
in
g
tr
ajec
to
r
y
m
ain
tain
s
co
n
s
is
ten
t
p
r
ess
u
r
e
an
d
f
u
ll
co
v
e
r
ag
e,
en
s
u
r
in
g
th
at
th
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ad
r
em
ain
s
p
er
p
en
d
icu
lar
to
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b
o
ar
d
th
r
o
u
g
h
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t
th
e
p
r
o
ce
s
s
.
I
n
th
is
wo
r
k
,
th
e
clea
n
in
g
p
r
o
ce
d
u
r
e
wa
s
ex
p
er
im
en
tally
v
er
if
ied
t
o
d
et
er
m
in
e
th
e
o
p
tim
al
n
u
m
b
er
o
f
wip
in
g
p
ass
es
an
d
ap
p
r
o
p
r
iate
co
n
tact
p
r
ess
u
r
e
d
u
r
in
g
m
o
tio
n
.
Alter
n
ativ
ely
,
a
v
is
io
n
-
b
ased
m
eth
o
d
c
o
u
l
d
b
e
e
m
p
lo
y
e
d
to
au
to
m
atic
ally
ass
ess
s
u
r
f
ac
e
clea
n
lin
ess
an
d
ad
ju
s
t th
e
n
u
m
b
er
o
f
clea
n
in
g
s
eq
u
en
ce
s
ac
c
o
r
d
in
g
l
y
.
Fig
u
r
e
9
s
h
o
ws
th
e
r
o
b
o
t
co
n
f
ig
u
r
ed
with
th
e
clea
n
in
g
p
ad
attac
h
ed
,
p
r
ep
ar
in
g
to
clea
n
th
e
b
o
ar
d
.
T
h
is
f
ea
tu
r
e
e
n
h
an
ce
s
t
h
e
o
v
er
all
au
to
n
o
m
y
o
f
th
e
s
y
s
tem
b
y
allo
win
g
it
t
o
clea
r
p
r
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io
u
s
co
n
te
n
t
with
o
u
t
h
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m
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ter
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en
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n
,
m
a
k
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g
it
r
ea
d
y
f
o
r
s
u
b
s
eq
u
en
t
wr
itin
g
o
r
d
r
awin
g
task
s
.
Su
ch
f
u
n
ctio
n
ality
is
esp
ec
ially
u
s
ef
u
l in
d
em
o
n
s
tr
atio
n
o
r
cla
s
s
r
o
o
m
s
ettin
g
s
wh
er
e
r
ep
ea
te
d
task
s
ar
e
p
er
f
o
r
m
ed
in
s
eq
u
e
n
ce
.
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