MANIPULATOR PRIMITIVE LEVEL TASK DECOMPOSITION (CLASSIC REPRINT)

Excerpt from Manipulator Primitive Level Task DecompositionAs shown in the first three figures, Prim receives commands from either the Elemental Move (e-move) level of the task decomposition hierarchy, which performs such functions as grasp planning and planning of gross and fine motions, or from the Operator Control. The output commands of the E-move level are time-independent descriptions of motions, for example static position or position and force paths, or directional fields. In the first case, the position and/or force commands are in the form of parameterized paths to be followed. In the case of a directional field description, the command takes the form of position-dependent fields which indicate the desired direction of motion or force application. In addition to these types of commands, E-move can also simply specify a set of termination conditions, or goal states, along with an algorithm specification which determines the strategy to be used to achieve them. This type of command is useful for sensory-interactive algorithms such as Cartesian end point servoing with vision. Motion commands from E-move may be large, as with gross motion paths specified for free space motions, or relatively small, as in fine motion segments for an assembly task.About the PublisherForgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.comThis book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully, any imperfections that remain are intentionally left to preserve the state of such historical works._,