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Excerpt from System Factors in Real-Time Hierarchical Control
A standard set of generic levels of decomposition of a robot control system has been proposed at the National Institute of Standards and Technology as a design methodology and is more fully explained in [albs7]. Within this task specific example, the levels shown are the task level which corresponds to user command get wrench; the commands goto, grasp, and release map into the elemental move level; and the set of commands to move the robot and end-effector gripper) map into the primitive level. Not pictured are the mapping of the series of trajectories into a servo level commands.
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