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By 2022 the number of operational industrial robots worldwide is expected to surpass the population of Berlin. In 2022 the International Federation of Robotics (IFR) expects a staggering number of about 3.8M operational robots worldwide. An intuitive example is a so-called articulated robot (see Fig. 3) It is modelled after a human arm and with its six degrees of freedom, this industrial robot is very flexible and therefore amongst the most popular robots for industrial applications. The biggest manufacturers of industrial robots are ABB, Omron, Fanuc, Kawasaki Robotics, KUKA and Yaskawa.