FILL-IN-THE-BLANK: Manipulator tasks are normally formulated in terms of the desired __________ and orientation.

Manipulator tasks are normally formulated in terms of the desired position and orientation.

In robotics and automation, manipulators such as robotic arms are designed to perform tasks by moving end effectors (like grips, tools, or sensors) to specific locations in the workspace. The term "position" refers to the specific coordinates in three-dimensional space where the end effector is expected to reach. Meanwhile, "orientation" describes the angle and direction in which the end effector is aligned when it reaches that position. Properly specifying both position and orientation is crucial for the accurate execution of tasks, ensuring not only that the manipulator arrives at the correct location but also that it is correctly aligned to perform its intended function, such as picking up an object, applying a force, or carrying out assembly tasks.