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  • Fine-motion planning for robotic assembly under modelling and sensing uncertainties 

    Rosell Gratacòs, Jan (Universitat Politècnica de Catalunya, 1998-10-13)
    Doctoral thesis
    Open Access
    This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of ...