B PERFORMING OPERATIONS; TRANSPORTING
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B25 HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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B25J MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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9/00 Programme-controlled manipulators
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B25J9/16 Programme controls
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B25J9/1656 characterised by programming, planning systems for manipulators
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B25J9/1664 characterised by motion, path, trajectory planning
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