Nokia Corporation

Bradley L Williams

James D English

Chu-Yin Chang

An apparatus and associated method, the apparatus comprising a controlled element ( ), such as a robotic manipulator, and a dynamically updatable control system ( ). The control system ( ) uses a control system equation (eq. (1)) to determine control signals (dq/dt) for controlling the controlled element ( ) given any required inputs (q, V) to the control system equation (eq. (1)). The control system ( ) is dynamically updatable in that in response to a script file indicating a code structure ( ) preferably having linked nodes ( ) and representing at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)), the control system ( ) creates the code structure ( ), at run-time, and does so such that the nodes ( ) can be queried (i.e. are executable logic) to provide values for at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)).

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Boynton Beach, FL, United States of America

Bradley L Williams