{"title":"通过在线降低几何不确定性来改善柔顺运动的性能","authors":"J. Rosell, L. Basañez, R. Suárez","doi":"10.1109/ISATP.1999.782954","DOIUrl":null,"url":null,"abstract":"The automatic planning of robotic assembly tasks usually gives rise to a sequence of compliant motions. These motions are executed using online sensory information to lessen the effect of modelling and sensing uncertainties affecting the task. The paper presents a procedure to estimate some geometric parameters in a planar assembly task in order to improve the performance of compliant motions. This procedure is part of a two-phase fine-motion planner for robotic assembly tasks in the plane, developed by the authors.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Improving the performance of compliant motions by online geometric uncertainty reduction\",\"authors\":\"J. Rosell, L. Basañez, R. Suárez\",\"doi\":\"10.1109/ISATP.1999.782954\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The automatic planning of robotic assembly tasks usually gives rise to a sequence of compliant motions. These motions are executed using online sensory information to lessen the effect of modelling and sensing uncertainties affecting the task. The paper presents a procedure to estimate some geometric parameters in a planar assembly task in order to improve the performance of compliant motions. This procedure is part of a two-phase fine-motion planner for robotic assembly tasks in the plane, developed by the authors.\",\"PeriodicalId\":326575,\"journal\":{\"name\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-07-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISATP.1999.782954\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISATP.1999.782954","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Improving the performance of compliant motions by online geometric uncertainty reduction
The automatic planning of robotic assembly tasks usually gives rise to a sequence of compliant motions. These motions are executed using online sensory information to lessen the effect of modelling and sensing uncertainties affecting the task. The paper presents a procedure to estimate some geometric parameters in a planar assembly task in order to improve the performance of compliant motions. This procedure is part of a two-phase fine-motion planner for robotic assembly tasks in the plane, developed by the authors.
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