| 318 / | HD | ELECTRICITY: MOTIVE POWER SYSTEMS |
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| 560 | DF | POSITIONAL SERVO SYSTEMS (E.G., SERVOMECHANISMS) {23} |
| 567 | DF | .~ Program- or pattern-controlled systems {3} |
| 568.1 | DF | .~.~ With program recording or composing means {1} |
| 568.11 |  | .~.~.~ Multifunction manipulator (i.e., Robot) {9} |
| 568.12 | DF | .~.~.~.~> Mobile robot |
| 568.13 | DF | .~.~.~.~> With particular program teaching method {1} |
| 568.15 | DF | .~.~.~.~> With particular interpolation means |
| 568.16 | DF | .~.~.~.~> With particular sensing device |
| 568.17 | DF | .~.~.~.~> With multimode control (e.g., course-fine, position-force, etc.) {1} |
| 568.19 | DF | .~.~.~.~> With particular coordinate transformation means |
| 568.2 | DF | .~.~.~.~> With plural control systems (e.g., the interaction of plural processors to control the plural joints of a single robot): {1} |
| 568.22 | DF | .~.~.~.~> With particular compensation (e.g., gain, offset, etc.) {1} |
| 568.24 | DF | .~.~.~.~> With reliability enhancement means (e.g., monitoring, redundant circuits, etc.) {1} |