Show simple item record

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.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2009-03-13T09:26:33Z
dc.date.available2009-03-13T09:26:33Z
dc.date.created2008
dc.date.issued2008
dc.identifier.citationRodríguez, Adolfo; Basañez, Luis; Celaya, Enric. "A relational positioning methodology for robot task specification and execution". IEEE transactions on robotics, 2008, vol. 24, núm. 3, p. 600-611.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/2713
dc.description.abstractThis 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.
dc.format.extentp. 600 - 611
dc.language.isoeng
dc.publisherIEEE
dc.relation.ispartofIEEE transactions on robotics
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutomation
dc.subject.otherassembly planning
dc.subject.othergeometric constraint solving
dc.subject.otherrelational positioning
dc.subject.otherrobot programming.
dc.titleA relational positioning methodology for robot task specification and execution
dc.typeArticle
dc.subject.lemacAutomatització
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2008.924263
dc.rights.accessOpen Access


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder