The simulation is performed in {TAIL ~ either the robot controller} 44 or {HEAD ~ the personal computer} 48 and, even when it is performed in the robot controller 44, the robot 42 and the positioner 50 do not have to be operated actually 
The simulation is performed in { TAIL ~ either the robot controller } 44 or { HEAD ~ the personal computer } 48 and , even when it is performed in the robot controller 44 , the robot 42 and the positioner 50 do not have to be operated actually
OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH