... Patent No. 4,545,722, Cutkosky and Kurokawa, 1985.)Lewis, F.L.; et. al. “Robotics” Mechanical Engineering Handbook Ed. Frank KreithBoca Raton: CRC Press LLC, 1999c1999byCRCPressLLCRobotics ... not through faulty engineering, but through incom-pletely articulated requirements and constraints. In other words, the end effector solved the wrongproblem.•A “concurrent engineering approach ... robots were simple sequential machines controlled by a combination of servomotors, adjustable mechanical stops, limit switches, and programmable logic controllers. These machineswere generally...