Our task in this chapter is one that you may have been waiting for, if you have been keeping score since Chapter 3, where we discussed our storyboards. We need to choose a way to pick up the toys with the robot arm. This involves picking a proper orientation for the wrist joint. Since our toys are randomly placed, by those experts at random, my grandkids, the toy may be in any orientation relative to the floor, and at any angle relative to the robot. We need some method for observing the toy with the robot and appropriately orienting the robot’s hand to grasp the toy.
Task analysis
Decision trees
The concept of a decision tree is fairly simple. You are walking down the sidewalk, and come to a corner. Here you...