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Description of a robotics-oriented relational positioning methodology

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hdl:2117/1531
Document typeResearch report
Defense date2007-09
Rights accessOpen Access
This work is protected by the corresponding intellectual and industrial property rights.
Except where otherwise noted, its contents are licensed under a Creative Commons license
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Attribution-NonCommercial-NoDerivs 2.5 Spain
Abstract
This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements.
In relational positioning, the movements of an object can be restricted totally or partially by specifying its allowed positions in terms of a set of geometric constraints. These allowed positions are found by means of a 3D sequential geometric constraint solver called PMF – Positioning Mobile with respect to Fixed. PMF exploits the fact that in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently.
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