| 700 / | HD | DATA PROCESSING: GENERIC CONTROL SYSTEMS OR SPECIFIC APPLICATIONS |
| 90 | DD | SPECIFIC APPLICATION, APPARATUS OR PROCESS {16} |
| 245 | DD | .~ Robot control {7} |
| 250 | DD | .~.~ Specific enhancing or modifying technique (e.g., adaptive control) {7} |
| 251 | | .~.~.~ Coordinate transformation |