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+# RobotUnit
+The RobotUnit can be used for real-time control.
+The central principle is that all controllers are executed synchronously.
+The controllers are arranged in a 2-layer architecture.
+For each actuator of the robot there are one or more so-called "joint controllers".
+These can realize e.g. position control, velocity control, torque control, etc.
+The joint controllers are responsible for translating the input variables into control variables for the individual joints, e.g. to calculate a target current from a position specification.
+NJointControllers are arranged above the JointControllers. These accept more complex targets (e.g. a Cartesian target position for the TCP).
+Each NJointController uses one or more JointControllers.