Automatic planning of pick and place operations in presence of uncertainties

Describes a system that plans automatically `pick and place´ tasks. It takes into consideration the strong interdependencies existing between the different steps of the `pick and place´ task. The system deals explicitly with the interactions between grasp planning, transfer motions and approach motions. Besides, it makes use, at several steps during the planning phase, of a module that propagates and evaluates position uncertainties in a `pick and place´ context. The authors describe the different modules included in the system and show how the controller invokes them and how it manages their interaction. Finally, they discuss several control strategies which can be implemented in order to solve a `pick and place´ planning problem