Before revision:  It computes a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion for a manipulator arm to dynamically manipulate the cable to perform a task with varying obstacle and target locations.
After revision:  It computes a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion that dynamically manipulates the cable to perform a task with varying obstacle and target locations.