Predicting motion behavior under contact uncertainty
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/562
Tipus de documentReport de recerca
Data publicació2004-10
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
Performing complex assembly task with robots requires fine-motion planners able to cope with uncertainty and contact motions, which is a difficult issue. This report proposes a method to predict the behavior of motions under contact uncertainty in order to check the feasibility of paths generated by gross-motion planning algorithms from a nominal model of environment. This pragmatical approach enables the extension of the gross-motion planning techniques to constrained-motion planning problems, ensuring the feasibility of the task despite the uncertainty. The approach has been implemented for assembly task in the plane with three degrees of freedom.
Forma partIOC-DT-P; 2004-18
Fitxers | Descripció | Mida | Format | Visualitza |
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ROSELL 7 techReport-AdvancedRobotics.pdf | 539,3Kb | Visualitza/Obre |