Automatic Synthesis of Fine-Motion Strategies for Robots

dc.creator	Lozano-Perez, Tomas
dc.creator	Mason, Matthew T.
dc.creator	Taylor, Russell H.
dc.date	2004-10-01T20:17:55Z
dc.date	2004-10-01T20:17:55Z
dc.date	1983-12-01
dc.date.accessioned	2013-10-09T02:40:30Z
dc.date.available	2013-10-09T02:40:30Z
dc.date.issued	2013-10-09
dc.identifier	AIM-759
dc.identifier	http://hdl.handle.net/1721.1/5640
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs are quite sensitive to details of geometry and to error characteristics and must, therefore, be constructed anew for each task. These factors motivate the need for automatic synthesis tools for robot programming, especially for compliant motion. This paper describes a formal approach to the synthesis of compliant motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control. A key aspect of the approach is that it provides correctness criteria for compliant motion strategies.
dc.format	34 p.
dc.format	6587746 bytes
dc.format	5168443 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-759
dc.subject	robotics
dc.subject	compliance
dc.subject	task planning
dc.subject	automatic programming
dc.title	Automatic Synthesis of Fine-Motion Strategies for Robots

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