Yukpa's speakings-of the map often took such narrative form, whereby the map was wrested from its Cartesian space to emerge in Yukpa's geographical imaginary where the material and the symbolic, people and the spirit world, and time and space are intimately intertwined in places and thus give meaning to places.

I have sought to problematize the binary between exclusion and erasure so common in the discussion surrounding participatory mapping, but in so doing, I have come to question the easy assumption that participatory maps are representational artifacts hopelessly trapped in striated, Cartesian space. Instead, through performance, maps are unfolded from the grid of striated, Cartesian space and inserted into profoundly emotional geographies that inform current, urgent debates surrounding social change and territoriality.

Computed torque control in

Cartesian space is shown in Fig.

Figure 2 shows a camera alignment that has been optimized for overall focus in

Cartesian space. However, look carefully at the image, especially at the corners.

Performance of Linear Motion in the

Cartesian Space. A straight stroke is the result of applying the MOVES command (Figure 5), as detailed during the development of this document.

Most of the local approaches aim at producing motions away from the obstacle for every point or each critical point on the manipulator when they are close to the obstacle in

Cartesian space [25-28].

Cartesian space to the points in the log-polar parametric space.

The general representation of slave system dynamics (Fig.2) with respect to

Cartesian space is

In the most of robot applications, a desired position for the end-effector is usually specified in task space or

Cartesian space. In order to move the robot end-effector to the desired position, the exact knowledge of the kinematics is required to solve the inverse kinematics problem to generate the desired position in joint space [6-8].

We define generalised

Cartesian space coordinates p, whose elements are the six variables chosen to describe the position and orientation of the platform, as p = f (x, y, z, [phi], [theta], [psi]).

A path generator function is used to generate a parametric curve in the

cartesian space. The reference signals of the actuators are computed using relation (5).

* the non-linear mapping of the motions in

Cartesian space,