positions s(t0), s(t1 [...] derivatives s’(t0) and s’(t1 [...] deltaT = t1 - t0 and

Const t1 SMC_PerfTimers t2 SMC

BASE-T1 SYSETH [...] 1000BASE-T1 Force MS [...] GBASE-CR10 SYSETH_AUTONEGCAP_1000baseT1

_{i+1}, t_{i [...] _{t_{0}}^{t_{n-1}}f [...] _{n} - t_{n-1

79 1000BASE-T1 T [...] _10GBaseKR 58 10GBASE-KR T_10G1GBasePRXD1 [...] T_10G1

_{n-1}) - f(t_{n-2 [...] })+4(t_{n-1}-t_{n-2})+3(t_{n}-t_{n-1

( 32 Bytes) tTask1 [...] parameter ( 64 Bytes) tTask1 [...] –> DEVICE (288 Bytes) t

md_1 SMDYN.ManipulatorDynStateT [...] _min SMDYN.ManipulatorDynStateT md_max SMDYN.ManipulatorDynStateT

Initial T4AP_Result_OK 0 T4AP_Result_InvalidConfig 1 T

point at t [0, 1] on [...] _GEOINFO t LREAL