A trajectory generation and tracking system is described which is designed to maximize the manipulator's usable performance on a sensor-driven task. The system drives a PUMA 260 that is part of a functioning robot ping-pong player. The system's implementation and performance in practice are reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Russell L. Andersson (2003) studied this question.