2Freescale Semiconductor, Inc. MC9S08DZ60 Data Sheet. http://cache. freescale.com/files/microcontrollers/doc/data_sheet/MC9S08 DZ60.pdf,2008.
3NXP Semiconductors. LPC4350/30/20/10 Preliminary data sheet, http:// www.nxp,com/documents/data sheet/LPC4350_30_20_10.pdf, 2012.
4STMicroelectronics. STM32F405xx STM32F407xx Datashcet production data. http://www, st.com/internet/comfrECHNICAl_RESOURCES/ TECHNICAL_LITERATURE/DATASHEET/DMO0037051.pdf,2012.
5C.S.G.Lee, M.Ziegler. A geometric approach in solving the inverse kinematics of PUMA robotsx[D].Robot Systems Division, College of engineering, The university of Michigan, Ann Arbor, Michigan. 1983.