title: Robotics and Automation Handbook
author:  Thomas R. Kurfess 
description: "This is a wonderful reference for designing, modeling, controlling, and interfacing roboticswell presentedprovides a great foundation relating manipulator tasks, design, and controlModern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples." - International Journal of Engineering Education
zlib_text: Application manual
  Robot communication and I/O control
  Robot Controller
  RobotWare 5.0
  
  © Copyright 2004-2007 ABB. All rights reserved.
  Application manual
  Robot communication and I/O control
  RobotWare 5.0
  Document ID: 3HAC020435-001
  Revision: D
  
  © Copyright 2004-2007 ABB. All rights reserved.
  The information in this manual is subject to change without notice and should not be 
  construed as a commitment by ABB. ABB assumes no responsibility for any errors that 
  may appear in this manual.
  Except as may be expressly stated anywhere in this manual, nothing herein shall be 
  construed as any kind of guarantee or warranty by ABB for losses, damages to persons 
  or property, fitness for a specific purpose or the like.
  In no event shall ABB be liable for incidental or consequential damages arising from 
  use of this manual and products described herein.
  This manual and parts thereof must not be reproduced or copied without ABB's written 
  permission, and contents thereof must not be imparted to a t