| 摘要 |
<p>The method involves processing a set of control commands e.g. hold pose using model-based regulation with observer control command (B), impose a desired force using force regulation control command (F) and travel to desired pose under position regulation control command (P). The commands are executed in a state machine in an active state (A). Each of the commands is executed in the state machine in a preliminary state that is placed before the active state and/or a post-operational state that is placed after the active state, and the set of commands are processed simultaneously. Independent claims are also included for the following: (1) a control device for controlling a manipulator comprising a device for executing a method for controlling a manipulator (2) a computer program for executing a method for controlling a manipulator (3) a computer program product comprising a program code for executing a method for controlling a manipulator.</p> |
