Control primitives for robot systems

A set of primitive operations that forms the core of a robot system description and control language is presented. The actions of the individual primitives are derived from the mathematical structure of the equations of motion for constrained mechanical systems. The recursive nature of the primitives allows composite robots to be constructed from more elementary daughter robots. A few pertinent results of classical mechanics are reviewed, the functionality of the primitive operation is described, and several different hierarchical strategies for the description and control of a two-fingered hand holding a box are presented.<
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