... CHAPTER 2ROBOT MECHANISMSSclater Chapter 2 5/3/01 10:09 AM Page 3342Sclater Chapter 2 5/3/01 10:09 AM Page 42The figure schematically ... permits therobot to be controlled through a VB graphical interface.Sclater Chapter 2 5/3/01 10:09 AM Page 3940Sclater Chapter 2 5/3/01 10:09 AM Page 40 ... sequence of motions that release the tool from the yoke andsecure it to the end effector.Sclater Chapter 2 5/3/01 10:09 AM Page 44arms, so that the tool interface plate canthen be slid freely...