8 pages matching line s4s6 in this book
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Data gathering and manipulation part positioning
Computer aided graphic demonstration of
3 other sections not shown
angular value ASEA automated ball screw Bd connect jumper bend angle bend motion bits block calculated components computer link constraining surfaces coordinate measuring machine coordinate system coordinate transformation defined degrees of freedom DLE/STX dot product end effector equations feasible geometry harmonic drive hexadecimal horizontal incremental control incremental values industrial robot intersection jumper at S1 kinematic line s4s6 linkage mechanism low byte lower arm machine reference system measuring machine reference number of bytes obtained perpendicular phase pivot disc probe ball center problem PROGRAM IDENTITY range receiving station request respect response TEXT robot configuration robot control robot coordinates robot program rotation matrix sending station shown in Fig specified subcode SUBHEAD TEXT DATA switch synchronization point TEXT HEAD TEXT SUBHEAD TEXT third wrist motion torch orientation transformation problem transmission transmitted turn motion unit vector upper arm vertical plane WACK weld seam locations welding torch workrange zero