Direct cable connection to a standard serial cable) must be used to connect each of the two computers to communicate properly. Such connection uses PPP protocol. If the parallel ports are used, Windows supports standard or basic 4-bit cable (commonly known as LapLink cable), Enhanced Capabilities Port (ECP) cable, or Universal Cable Module (UCM) cable (which was known as DirectParallel cable by Parallel Technologies). Infrared communication ports, like the ones found on laptop computers (such as IrDA), can also be used. Connecting any two computers using USB requires a special proprietary bridge cable. A directly connected pin-to-pin USB type A cable does not
Parallel manipulator mechanisms for the movement of either the robot on its base, or one or more manipulator arms. Their 'parallel' distinction, as opposed to a serial manipulator, is that the end effector (or 'hand') of this linkage (or 'arm') is directly connected to its base by a number of (usually three or six) separate and independent linkages working simultaneously. No geometrical parallelism is implied. A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a serial manipulator. Errors in one chain's positioning are averaged in conjunction with the