A world model based approach to manipulator control

A dynamic world model is presented on which all planning, sensing, and control functions are based. A planning system that specifies how task are to be performed and the method used for sensing the state of the task are presented. The objectives of the control law and the algorithm used in the controller are given. Practical considerations are addressed, and some important details, such as the use of the null task, are explained. An example task of opening a door is examined.