... 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, the robot ... through recording a particular robot pose with the robot teach pendent (Rehg, 20 03) . Under the teaching mode, the robot programmer jogs the robot s joints for poisoning the robot s end-effector ... Advancesin Robot Manipulators82 In robot programming, the robot programmer creates a robot point RTCP_Def]n[Pby first declaring it in a robot program and then defining its coordinates in the robot...