Re: Answers

On Thu, 27 Sep 2001, Cezary Zielinski wrote:

[...]
> I don't know exactly what a stub is, but I think that that is more
> or less the same as the thing I call an image. The image is a
> representation of the sensor reading on the side of the motion
> process (MP or ECP).

Indeed. That's what I mean.

[...]
>  If you are cerful you can switch between algorithms or their
>  parameters even during motion execution. The problem is to have the
>  current values in both algorithms, e.g. especially the integral
>  component, but also the previus value for the sake of
>  differentiation.

Have you ever seen an implementation of this on-line switching? Do you
think there is a need for it?

I can think of one (or rather, a whole family of cases), namely hybrid
control: one could leave the responsibility of the switch robustness
to the programmer, or one could implement sub-optimal but robust
default switching behaviours. But I don't have a clear view on the
matter, let alone any experience. But I do want to leave itopen as an
option.

> > - how do you extend the Move and Wait commands for sensor-driven
> >   commands, such as force control or visual tracking?
>
> You don't have, as sensor interaction is included in the Move or
> Wait instructions. Please note that you deliver both the list of
> sensor images used and the generator/condition as arguments. The
> list determines to which sensors you want to talk and the generator
> determines how you use the sensor readings in motion
> generation/modification.

Okay, I see. I was a bit misled by the name `generator', because that
doesn't suggest (to me at least) its functionality as a servo control
loop (which it is if you take sensor information into account, I
guess).

> I am waiting for the next batch of questions.
Thanks for answering so quickly!

Herman