Manipulator Primitive Level Task Decomposition

摘要

The document describes the structure, function, and interfaces of a trajectory generation task decomposition module in a hierarchical manipulator control system. The module generates dynamic motion and force commands from a static description of the desired behavior, and is called the Primitive (Prim) level of task decomposition, since it generates primitive motion segments. For instance, Prim can generate dynamic position and force trajectories from parametrically-defined static position and force paths. The Prim task decomposition module consists of three subcomponents; the Job Assignment module, the Planning module, and the Execution module. The operation of these modules and the internal Prim interfaces between them are discussed, showing how various trajectory planning techniques are accommodated by the task decomposition module. The discussion in the document is limited to single-arm manipulators and does not include interfaces for end effectors or active wrist devices.