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Diagram of WAM robot arm control method. The external processor sends UDP packets with the target joint positions approximately every 15 ms. The Libbarrett code running synchronously at 500 Hz in the internal WAM CPU, extracts the target joint angular position vectors (Network System); converts them into joint angular velocities (PosToVel System); and generates the required joint torques for each motor using the TrackReferenceSignal function.
