\input zb-basic
\input zb-ioport
\iteman{io-port 70066330}
\itemau{Sommerkorn, Alexander; Kubus, Daniel; Wahl, Friedrich M.}
\itemti{The basis of control-related robotics research - open high-rate low-level control architectures for industrial manipulators}
\itemso{ISR/ROBOTIK, 1-8 (2010).}
\itemcc{}
\itemut{}
\itemli{http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5756892}
\end