Title :
Replanning with compliant rotations in the presence of uncertainties
Author_Institution :
Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA
Abstract :
As an extension to the translational patch-planner developed earlier (Xiao, 1990) the author presents strategies for generating rotational patch-plans to handle orientational errors of a held object. The replanning approach consists of patch-planning based on knowledge of contact and motion strategy planning. Replanning-oriented contact and task models are introduced. The strategies for generating compliant patch rotations and synthesizing rotational and translational patch-plans are presented and discussed. The issues of motion strategy planning and the eventual success of replanning are discussed
Keywords :
factory automation; industrial robots; path planning; compliant rotations; contact models; factory automation; industrial robots; motion strategy planning; orientational errors; path planning; replanning; task models; translational patch-planner; uncertainties; Computer science; Error correction; Motion planning; Object detection; Orbital robotics; Robot motion; Robotic assembly; Robotics and automation; Strategic planning; Uncertainty;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225082
