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Automatic Synthesis of Fine-Motion Strategies for Robots.

Author: T Lozano-Perez; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB.
Publisher: Ft. Belvoir Defense Technical Information Center DEC 1983.
Edition/Format:   Print book : EnglishView all editions and formats
Database:WorldCat
Summary:
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  Read more...
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Document Type: Book
All Authors / Contributors: T Lozano-Perez; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB.
OCLC Number: 227610176
Notes: Sponsored in part by Contract N00014-82-K-0334. Prepared in cooperation with Carnegie-Mellon Univ., Pittsburgh, PA. and IBM Thomas J. Watson Research Center, Yorktown Heights, NY.
Description: 36 pages

Abstract:

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 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. (Author).

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