Nearby base points robot motion control uses in addition to sensor data near location data from Camera-Light Unit - CLU. Near location data are used for the calculation of linear and angular target coordinates relative to TV camera on EE.

1. Command Acquire Target - adjustment using CLU data about target coordinates.

This command ensures exact location FOR relative on the point of attachment beginning. Command is executed in automatic regime as a part of auto-sequence.

2. Command Approach - approach to the point of attachment beginning.

After this command FOR is located in the Insert Start Frame, at a distance 0.05m from the point of attachment. Command is executed in automatic regime as a part of auto-sequence.

3. Command Retract - moving away from the point of attachment beginning

Robot FOR moves from the Insert Start Frame to the safe approach point. This command is inverse to command Approach. Command is executed in automatic regime as a part of auto-sequence.