The International Journal of Robotics Research · 1984 · 896 citations · 15 references
Robot KinematicsEngineeringField RoboticsIntelligent RoboticsAdvanced Motion ControlRobot ProgramsAutomatic SynthesisIndustrial RoboticsRobot Program MingSystems EngineeringRobot LearningKinematicsComputational GeometryGeometric ModelingMechatronicsMotion SynthesisDesignRobot ControlNatural SciencesAutomationMechanical SystemsRoboticsCompliant Motion
Robots rely on active compliance to perform tasks amid sensing and control errors, yet specifying compliant motions is difficult and programs must be rebuilt for each task due to sensitivity to geometry and error characteristics. These factors motivate the search for automatic synthesis tools for robot programming, especially for compliant motion. This paper presents a formal approach to synthesizing compliant‑motion strategies from geometric descriptions of assembly operations and explicit estimates of sensing and control errors. A key aspect of the approach is that it provides criteria for the correctness of compliant‑motion strategies.
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 search for automatic synthesis tools for robot program ming, 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 criteriafor correct ness of compliant-motion strategies.
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Spatial Planning: A Configuration Space Approach
Tomás Lozano‐Pérez · IEEE Transactions on Computers · 1983 · 2.1K citations