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Tham khảo tài liệu 'robot arms 2010 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Knowledge-Based Control for Robot Arm 71 Same sub-worlds as in W11 above W13 Sub-World Speedunknown Same sub-worlds as in W11 above W14 Sub-World SpeedOthers Same sub-worlds as in W11 above W15 Sub-World SpeedNoImportance Same sub-worlds as in W11 above W2 World DynamicModelUnknown Describing the rules applicable for this case W21 Sub-World SpeedSlow W211 Sub-sub-World ParametersUnknown W212 Sub-sub-World ParametersOthers W213 Sub-sub-World ParametersNoImportance W22 Sub-World SpeedHigh Same sub-worlds as in W21 above W23 Sub-World SpeedUnknown Same sub-worlds as in W21 above W14 Sub-World SpeedOthers Same sub-worlds as in W21 above W24 Sub-World SpeedNoImportance Same sub-worlds as in W21 above W3 World DynamicModelOthers Describing the rules applicable for this case W31 Sub-World SpeedSlow W311 Sub-sub-world ParametersKnown W312 Sub-sub-World ParametersUnknown W313 Sub-sub-World ParametersOthers W314 Sub-sub-World ParametersNoImportance W32 Sub-World SpeedSlow Same sub-worlds as in W31 above W33 Sub-World SpeedUnknown Same sub-worlds as in W31 above W14 Sub-World SpeedOthers Same sub-worlds as in W31 above W34 Sub-World SpeedNoImportance Same sub-worlds as in W31 above W4 World DynamicModelNoImportance Describing the rules applicable for this case W41 Sub-World SpeedSlow W411 Sub-sub-World ParametersKnown W412 Sub-sub-World ParametersUnknown W413 Sub-sub-World ParametersOthers W414 Sub-sub-World ParametersNoImportance W42 Sub-World SpeedSlow Same sub-worlds as in W41 above W43 Sub-World SpeedUnknown Same sub-worlds as in W41 above W14 Sub-World SpeedOthers Same sub-worlds as in W41 above W44 Sub-World SpeedNoImportance Same sub-worlds as in W41 above 72 Robot Arms For each sub-world Wij i 1 to 4 j 1 to 4 there correspond a sub-sub-world for RA parametric description. These pruning worlds give a preliminary guide to a world corresponding to the chosen algorithm where the initial search is to be started. If the results given by this algorithm are satisfactory then
