Kuka has released a very thorough collection of tutorials about controlling their industrial robotic arm using MSRS.
It covers many real-world robotics subjects including: forward and inverse kinematics of articulated chains, syncronized velocity / acceleration control, sensor feedback, mobile platforms and task excecution architectures.
This is probably the most advanced collection of services for MSRS so far, complete with clear, detailed documentation. Well done Kuka.
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