Here is another example of a “soft” application. In this case, I only programmed the START and the END position by “teach in”. 2 or 3 intermediate positions have roughly been teached (without any precision). The Robot arm does not know anything about “inverse kinematics”, circle mathematics and so on. The movement is possible, because the arm is compliant and does adapt itsself to the given circular movement. This programmation was done within 5 minutes with our IME Software.