Automated system and method for control of movement using parameterized scripts

A method for controlling a mobile machine having at least one sensor providing perceptual information to software, the software being operable to monitor movement of the manipulator based on the perceptual information and to generate commands for controlling movement of the manipulator, the method comprising:

• storing sets of event based instructions, each set generally defining movement of a corresponding portion of the mobile machine;
• utilizing the software to determine values of parameters defining precise movement of the mobile machine;
• determining the order to execute the sets of instructions based on the values of the parameters;
• repeatedly executing the sets of instructions using the values of the parameters determined prior to each repetition, with at least two of the sets of instructions executed concurrently, and
• wherein the parameters include at least one modeled parameter, and wherein determining values includes the step of executing modeling software to model the mobile machine during the executing of the sets of instructions and to provide a value for each modeled parameter.

A mobile manipulator, comprising:

• a mobile base;
• a manipulator arm mounted on the mobile base and having a plurality of links;
• at least one sensor providing perceptual information to software, the software beings operable to monitor movement of the manipulator based on the perceptual information and to generate commands for controlling movement of the manipulator;
• and
• a control system connected to at least the manipulator arm to execute event based pre-stored instructions generally defining automated movement of the mobile manipulator, and to determine values for parameters defining precise movement of the mobile manipulator during execution of the pre-stored instructions, the sets of instruction being executed in an order determined by the software, the order being based at least partially on the values of the parameters, wherein the control system comprises:
• a storage unit to store the event based pre-stored instructions generally defining the movement of the mobile manipulator, and to provide memory locations for the parameters defining precise movement of the mobile manipulator;
• and
• a processor coupled to the storage unit and at least the manipulator arm to determine values of the parameters and to execute the pre-stored instructions.