
3.2 Sensors
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commands rather than positional ones because, with our reflex-
based control system, most movements are made relative to the
current location of the hand. That is, we are more interested in
controlling the trajectory of the arm than in sending it to some
global position.
The servo board communicates over a parallel port
connection with a modified subsumption architecture processor
board called a "mutant". The mutant provides an interface to the
arm using standard subsumption serial lines. Its primary
function is to allow cartesian control of the arm by running the
appropriate inverse kinematic calculations on the received veloc ...