Core Components for Motion Control

Hello,

The long promised paper which explains our views on the motion control 
framework is finally ready for peer review.  This paper represents and 
motivates the ideas we will present at the Pisa meeting.  It explains 
terminology, motivates design decisions and gives a view on current and 
future implementations. It is a candidate for the first deliverable of the 
Orocos project.

You can find it here : http://www.orocos.org/documents/motconframe.pdf

Feel free to comment :-)

Peter, Herman & Bob