Manipulator Servo Level Task Decomposition

摘要

The document details the functionality of the Servo task decomposition modules for electric motor-powered manipulators with serial joints and unbranched kinematics. The treatment is strictly for rigid body links. In addition, the discussion is directed primarily toward autonomous mode operation. However, the document does describe the operator control interface at the Servo level. The document also describes the Servo interfaces to World Modeling, as well as the interfaces between the three task decomposition components: Job Assignment, Planning and Execution. The command interface from the Primitive task decomposition module to the Servo task decomposition module is specified, as is the interface to operator control.