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Robot task specification and execution through relational positioning

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Rodríguez Tsouroukdissian, Adolfo
Basañez Villaluenga, LuisMés informacióMés informació
Celaya Llover, EnricMés informacióMés informació
Document typeConference report
Defense date2007
PublisherIFAC
Rights accessOpen Access
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
Abstract
This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, and for assisting the execution of teleoperated tasks featuring precise or repetitive movements. By formulating an object positioning problem in terms of symbolic geometric constraints, the movements of an object can be restricted totally or partially, independently of its initial configuration. To solve the problem, a 3D sequential geometric constraint solver called PMF –Positioning Mobile with respect to Fixed– has been developed. PMF exploits the fact that in geometric constraint sets the rotational component can often be decoupled from the translational one and solved independently.
CitationRodríguez, Adolfo; Basañez, Luis; Celaya, Enric. "Robot task specification and execution through relational positioning". A: 2007 International Workshop on Intelligent Manufacturing Systems (IMS), Alacant, Espanya, 2007. IFAC, 2007, p. 1-6. 
URIhttp://hdl.handle.net/2117/2762
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