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A relational positioning methodology for robot task specification and execution

AutorRodríguez, Adolfo; Basañez, Luis; Celaya, Enric
Palabras claveAssembly planning
Geometric constraint solving
Relational positioning
Robot programming
Fecha de publicaciónjun-2008
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Robotics 24(3): 600-611 (2008)
ResumenThis paper presents a relational positioning methodology that allows to restrict totally or partially the movements of an object by specifying its allowed positions in terms of a set of intuitive geometric constraints. In order to derive these positions, a geometric constraint solver must be used. To this end, positioning mobile with respect to fixed (PMF), a geometric constraint solver for the relational positioning of rigid objects in free space is introduced. The solver exploits the fact that, in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently. PMF may be used as an interface for specifying offline-programmed robot tasks, as well as for assisting the execution of teleoperated tasks requiring constrained movements. Examples describing both the solver's operation and typical applications are discussed.
Descripción12 pages, 11 figures.
Versión del editorhttp://dx.doi.org/10.1109/TRO.2008.924263
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