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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. "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.
dc.description.abstractThis 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.
dc.format.extentp. 1-6
dc.relation.ispartofInternational Workshop on Intelligent Manufacturing Systems (IMS)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.otherconstraint satisfaction problems
dc.subject.otherrobot programming
dc.titleRobot task specification and execution through relational positioning
dc.typeConference report
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.rights.accessOpen Access

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