389158.fig.0012a
(a)
389158.fig.0012b
(b)
389158.fig.0012c
(c)
389158.fig.0012d
(d)
Figure 12: (a) Robot position (X,Y), with enabled/disabled control, (b) norm of the end-effector position over time, (c) trend of the Y end-effector position over time, and (d) norm of the robot speed over time.