... xyxyyxzxyzxzxyzyzxzxyzxzxyzyzxyzzzzyyyxxxcoscossincossinsincoscossinsincoscossinsinsincossinsinsincossincoscossinsinsincoscoscos),x(Rot),y(Rot),z(Rotaonaonaon, (2) where ... and robot points online with the real robot system are introduced. Programming techniques for maintaining the accuracy of the exiting robot points are also discussed. Section 3 introduces the ... 1000)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f)r,q(f1000paonpaonpaon 34 333 231 24 232 22114 131 211zzzzyyyyxxxx, (4) where fij(q, r) (for i = 1, 2, 3 and j = 1, 2, 3, 4) is a function of joint variables q and joint parametersr. Specifically,...