Szukana fraza: [Abstract = "A fundamental problem in industrial robots control concerns algorithms generating reference trajectories. In the papers \(Gerke, 1985\; Gousenes, 1984\; Jacak, 1989\; Lozano\-Perez, 1983\) some generating algorithms based on an arbitrary discretization of the manipulators internal coordinates are suggested. Each point of discretization in the external space approximating a reference trajectory is represented by known discretized internal coordinates of the manipulator."]

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