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(A) Three repetitions of a sequence of four points in space (joint 1 not used) superposed. Units are ticks of 130 ms. (B) 3D representation of the trajectory segments followed by the robotic arm among four points. The four plots represent in blue the transitions of the arm between the commanded positons (P1 → P2, P2 → P3, P3 → P4, and P4 → P1 segments). Reached positions are in orange. Commands are sent at 0.25 Hz and measurements are done at 6.5 Hz. All the axes are in cm.
