Title :
Qualitative physics for robot task planning. II. Kinematics of mechanical devices
Author :
Liu, Jiming ; Daneshmend, Laeeque K.
Author_Institution :
McGill Res. Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Abstract :
For pt.I see ibid., p.487-93 (1991). As augmentations to syntactical task planning, kinematic models facilitate the specification of robot-level motion strategies for mechanism-oriented manipulation tasks. The paper presents a qualitative geometric reasoning approach to the analysis of robot task kinematics. The qualitative approach permits computationally efficient, approximate, solution of kinematic problems without using exact information on the geometry of mechanisms and provides a basis for the functional simulation of robot manipulation
Keywords :
kinematics; planning (artificial intelligence); robots; spatial reasoning; kinematic models; mechanism-oriented manipulation tasks; qualitative geometric reasoning; qualitative physics; robot task planning; robot-level motion strategies; spatial reasoning; syntactical task planning; Computational geometry; Force feedback; Intelligent robots; Kinematics; Machine intelligence; Motion planning; Physics; Robot motion; Solid modeling; Strategic planning;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174520
