Motion control requirements and specification (final iteration)

Motion control requirements and specification (final iteration) (Task 4.1, R, M17, UNIBS) The deliverable is dedicated to description of the final requirements and specification for the motion control layer implementing centralized and decentralized control schemes. The final report will present the results of the generic requirements abstraction for industrial applications and will specify its general architecture in terms of technologies, languages and tools, and provide the guidelines for motion control solution of the I-MECH platform.