Proceedings, 1989 International Conference on Robotics and Automation
DOI: 10.1109/robot.1989.100082
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Identification and verification of termination conditions in fine motion in presence of sensor errors and geometric uncertainties

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Cited by 95 publications
(24 citation statements)
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“…Hirai and Asada (1990) derived the Desai and Volz (1989) identified the sensing was used. Motions were made along the separation cone (a separation cone is a set of all motions that result in a break of contact) and more sensing data was collected.…”
Section: Most Methods Of Identifying Contactmentioning
confidence: 99%
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“…Hirai and Asada (1990) derived the Desai and Volz (1989) identified the sensing was used. Motions were made along the separation cone (a separation cone is a set of all motions that result in a break of contact) and more sensing data was collected.…”
Section: Most Methods Of Identifying Contactmentioning
confidence: 99%
“…Contact formations are a set of configurations with identical, elemental contacts between pairs of topological elements (Desai and Volz, 1989). The contact formation (Desai and Volz, 1989) provides a qualitative description of how two or more objects make contact with each other, reflecting the geometric relationship (e.g., edge 1 of the grasped object touches side B of the environment).…”
Section: Contact Formationsmentioning
confidence: 99%
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“…Modeling of uncertainties appears almost exclusively in the context of planning robot motions. The feasibility of a planned task, or its guaranteed successful completion, is derived from stochastic models of the uncertainties: some kind of &dquo;uncertainty ball&dquo; for position uncertainty, and &dquo;uncertainty cone&dquo; for directional uncertainty (Xiao and Volz 1988;Desai and Volz 1989;Laugier 1989;Xiao 1992). These stochastic models are useless for on-line control.…”
Section: Previous Workmentioning
confidence: 99%
“…TX. tional complexity found in model-based program generation. For this purpose, we model the skills as a sequence of discrete states, representing the contact formations (i.e., contact E8tate) [2] between workpieces. In this way, the learning process is simplified and the learned program should be more robust to discrepancies in position and orientation.…”
Section: Introductionmentioning
confidence: 99%