Task Control

It will be assumed in this chapter that we have available a robot which can be commanded to move to certain positions or along certain paths. All the necessary hardware and software components, described in the previous chapters, have been assembled. For the moment we will assume that no external environmental sensing is necessary. However, some means must be provided for programming the robot to perform the required series of movements. This chapter is about elementary task control—how simple non-sensory tasks may be taught and executed. This does not necessarily preclude a small element of uncertainty in component locations. Compliance, whether arising from the robot structure, the workpiece or its jigs, or passive compliance devices as described in section 2.3.7, may all be used to assist the joining of parts during assembly tasks.