Adaptive control of a robotic manipulator

A control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. "Adaptive control" in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.