... (2,b0,L), (4,a -1, U), (1, b -1, U), (4,b -1, L), (3,a -1, U), (5,a -1, L), (3,b -1, L), (0,a0,U), (1, a0,L), (5,a -1, U), (6,a -1, L), (3,b -1, U), (1, a0,U), (3,a0,L), (4,b -1, U), (5,b -1, L), (2,b0,U), (1, b0,L), (2,a0,L), ... 90 Part a of MPS Part b of MPS Part a of MPS -1 Part b of MPS -1 Part b of MPS Part a of MPS -2 Part b of MPS -2 12 0 15 0 Part a of MPS Robot Figure The Gantt chart of coordinated movement of parts ... Reiter (19 68), Ramchandani (19 73), Karp (19 78), Gondran and Minoux (19 85), Cohen et al (19 85), Hillion and Proth (19 89), McCormick et al (19 89), Chretienne (19 91) , Lei and Liu (20 01) , Roundy (19 92),...