Automatic Synthesis of Fine-Motion Strategies for Robots
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 an...
| Main Authors: | , , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5640 |
| _version_ | 1826198558378819584 |
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| author | Lozano-Perez, Tomas Mason, Matthew T. Taylor, Russell H. |
| author_facet | Lozano-Perez, Tomas Mason, Matthew T. Taylor, Russell H. |
| author_sort | Lozano-Perez, Tomas |
| collection | MIT |
| 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. |
| first_indexed | 2024-09-23T11:06:45Z |
| id | mit-1721.1/5640 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:06:45Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/56402019-04-12T08:26:51Z Automatic Synthesis of Fine-Motion Strategies for Robots Lozano-Perez, Tomas Mason, Matthew T. Taylor, Russell H. robotics compliance task planning automatic programming 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. 2004-10-01T20:17:55Z 2004-10-01T20:17:55Z 1983-12-01 AIM-759 http://hdl.handle.net/1721.1/5640 en_US AIM-759 34 p. 6587746 bytes 5168443 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | robotics compliance task planning automatic programming Lozano-Perez, Tomas Mason, Matthew T. Taylor, Russell H. Automatic Synthesis of Fine-Motion Strategies for Robots |
| title | Automatic Synthesis of Fine-Motion Strategies for Robots |
| title_full | Automatic Synthesis of Fine-Motion Strategies for Robots |
| title_fullStr | Automatic Synthesis of Fine-Motion Strategies for Robots |
| title_full_unstemmed | Automatic Synthesis of Fine-Motion Strategies for Robots |
| title_short | Automatic Synthesis of Fine-Motion Strategies for Robots |
| title_sort | automatic synthesis of fine motion strategies for robots |
| topic | robotics compliance task planning automatic programming |
| url | http://hdl.handle.net/1721.1/5640 |
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