Patent ID: 11904473
Assignee: INTRINSIC INNOVATION LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. The system of claim 8, wherein:
executing the second control loop further comprises receiving status messages; and
the method further comprises:
determining, based on one or more status messages received during the second control loop, that an exit condition for transitioning to executing a third subgraph has been satisfied;
in response to determining that the exit condition for transitioning to executing the third subgraph has been satisfied, performing a mode switch between the second coordinate transformation process of the second subgraph and a third coordinate transformation process that is different from that second coordinate transformation process; and
executing, by the robotics control system, a third control loop corresponding to a the third node subgraph of the state machine having the third coordinate transformation process, wherein executing the third control loop comprises repeatedly providing commands to one or more robotic components computed from the third coordinate transformation process.