A knowledge-rich hierarchical controller for a redundant manipulator

A knowledge-rich hierarchical controller for an Intelledex manipulator with six degrees of freedom is discussed. The knowledge-rich hierarchy is initially based on the physical structure of the manipulator, and then the hierarchy is enriched by incorporating a knowledge-base and an inference engine at every node of the hierarchy. The hierarchical structure facilitates the distribution of the decision making and control throughout the hierarchy. A simple example of carrying an object from one side of a table to the other side is included