A task frame formalism for practical implementations

Mason's Task Frame Formalism (TFF) is supposed to deliver robot application programmers an intuitive and powerful programming interface. The open literature provides many theoretic approaches, but almost none of them is practicable. To bring these research results into practice is the major aim of this paper. Sets of manipulation primitives specify compliant motion commands, which let us execute complex robot tasks. We introduce an appropriate notation and focus on all significant TFF values, which have to be applied to the transformations, which are required on the control level. All essential calculations are derived; to highlight the meaning for practical implementations, an example, how to embed this knowledge in control architectures, is given.