Automatic Synthesis of Fine-Motion Strategies for Robots.
Abstract
The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs are quite sensitive to details of geometry and to error characteristics and must, therefore, be constructed anew for each task. These factors motivate the need for automatic synthesis tools for robot programming, especially for compliant motion. This paper describes formal approach to the synthesis of compliant motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control. A key aspect of the approach is that it provides correctness criteria for compliant motion strategies. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1983
- Accession Number
- ADA139532
Entities
People
- T. Lozano-perez
Organizations
- Massachusetts Institute of Technology