{HEAD ~ The simulation} is performed in either the robot controller 44 or {TAIL ~ 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 
is performed in
{ HEAD ~ The simulation } is performed in either the robot controller 44 or { TAIL ~ 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
HEAD HEAD HEAD HEAD HEAD HEAD REL REL REL OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL 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