robot, manipulator, robot, manipulator, dexterous, robotics, dexterous, robotics, articulated, force control, impedance, modular, redundant, anthropomorphic, dextrous, kinematic redundancy, compliance, robotic, arm, open architecture, dexterity, pc based, pc, pc control, robot arm, servo control, robot manipulators, pc-based, control system, redundancy control, redundant control, motion control