THE basis for all advanced manipulator control is therelationship between the cartesian coordinates of theendef fector and the manipulator joint coordinates. A directmethod for assigning link coordinate systems and obtaining theendeffector position and orientation in terms of jointcoordinates is reviewed (direct kinematics). An analyticaltechnique for solving the kinematic equations (inversekinematics) for n degrees of freedom manipulator has beendeveloped.Uecause of the physical constraints and the highlynonlinear robot dynamics, the optimum control of industrialrobots is a diff icul t problem. An al ternati ve approach is todivide the problem into two parts: optimum path planning foroff-line processing followed by on-line path tracking. The pathtracking can be achieved by adopting the inverse kinematictechnlque. The path planning is done at the joint level. Cubicand 4th degree spline functions are used for constructing jointtrajectories for industrial robots. The motion of the robot isspecified by a sequence of cartesian knots, i.e., positions andorientations of the endeffector. For an N-joint robot, thesecartesian knots are transformed into N sets of jointdisplacements, with one set for each joint, by using theinverse kinematic technique. Piecewise cubic and 4th degreeThe experimental and numerical results were ’compared to each other and toanother identical wall with no openings in order to clarify the resulting differences in themechanical behavior. Results showed that the fracture mechanics- finite element resultsand the photoelasticity results were only 10% away of each other. The effect of differentstudied parameters were also found to be significant.Bearing wall structures usually show brittle behavior under loads. Due to theexistence of high vertical or lateral loads, bearing walls permit cracks in variousdirections. These cracks which vary in locations, directions and lengths surely affects themechanical behavior and bearing capacities of the walls.In this study, the effect of the above parameters on the behavior of bearing solidwalls resting on different types of soils and having an edge loss of support and differentsides boundary conditions were also investigated using the finite element method. Fiftytwo models were tested. Results were compared to some other identical walls with nocracks, in order to clarify the resulting differences in the mechanical behaviorUseful conclusions and recommendations concerning the behavior and loadbearing capacities of such walls which could help very much designing of such walls wereobtained.