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dc.contributor.authorRodríguez Tsouroukdissian, Adolfo
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.authorCelaya Llover, Enric
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2008-01-24T11:35:45Z
dc.date.available2008-01-24T11:35:45Z
dc.date.issued2007-09
dc.identifier.urihttp://hdl.handle.net/2117/1531
dc.description.abstractThis 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.
dc.format.extent28 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherRelational positioning methodology
dc.subject.otherPositioning Mobile with respect to Fixed
dc.subject.otherPMF
dc.titleDescription of a robotics-oriented relational positioning methodology
dc.typeExternal research report
dc.subject.lemacRobòtica
dc.rights.accessOpen Access
local.personalitzacitaciotrue


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