Manipulator Servo Level World Modeling

摘要

The document describes the interfaces and functions of a World Modeling module at the lowest level of a hierarchical manipulator control system. The World Modeling modules maintain an internal model of the world by continuously updating the model based upon sensory input. At the lowest level of the control system, the Level 1 World Modeling module interfaces to and supports the Data Acquisition Sensory Processing module and the Servo Task Decomposition module. The document contains detailed descriptions of the interfaces between the Level 1 World Modeling module and the rest of the control hierarchy. The document also discusses the function of the support processes within the module. It does not attempt to provide an exhaustive list of the computations and models required by World Modeling in support of all possible devices and sensors in a manipulator control system. Rather, it aims to elucidate the classes of support processes for both Sensory Processing and Task Decomposition, considering control of a manipulator (the most complex device) as an example.