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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.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
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.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.relation.ispartofIEEE transactions on robotics
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
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.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.rights.accessOpen Access

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