| 700 / | HD | DATA PROCESSING: GENERIC CONTROL SYSTEMS OR SPECIFIC APPLICATIONS |
| 90 | DD | SPECIFIC APPLICATION, APPARATUS OR PROCESS {16} |
| 245 | DD | .~ Robot control {7} |
| 250 | | .~.~ Specific enhancing or modifying technique (e.g., adaptive control) {7} |
| 251 | DD | .~.~.~> Coordinate transformation |
| 252 | DD | .~.~.~> Interpolation |
| 253 | DD | .~.~.~> Programmed data (e.g., path) modified by sensed data |
| 254 | DD | .~.~.~> Compensation or calibration |
| 255 | DD | .~.~.~> Collision prevention |
| 256 | DD | .~.~.~> Overload prevention |
| 257 | DD | .~.~.~> Based on user input |