Title :
Task-level planning of pick-and-place robot motions
Author :
Lozano-Pérez, Tomás ; Jones, Joseph L. ; Mazer, Emmanuel ; O´donnell, Patrick A.
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
fDate :
3/1/1989 12:00:00 AM
Abstract :
A task-level robot system named Handey, which is under development, is described. The current system is limited to pick-and-place operations, and it has successfully carried out dozens of such operations involving a variety of parts in relatively complex environments. The pick-and-place problem is described, and approximate approaches to the problem are examined. Heuristic motion planning in Handey is then discussed.<>
Keywords :
position control; robots; Handey; heuristic motion planning; pick-and-place robot motions; task-level planning; task-level robot system; Artificial intelligence; Assembly systems; Intelligent robots; Kinematics; Laboratories; Motion planning; Robot motion; Robotic assembly; Service robots; Strategic planning;
