FUNNEL ALGORITHM AND TASK LEVEL ROBOT CONTROL.

The author suggests that the objectives of the robot controller be elevated from attaining robot arm level objectives to attaining task level objectives. Consistent with this view, the following three-step funnel algorithm is suggested for the translation of a given task into robot actuator commands: (i) Partition the task into a sequence of local subtasks and local regions; (ii) synthesize a feedback control law to achieve each subtask locally; and (iii) Apply the local feedback control law to obtain the required actuator commands. Examples of the method are given.