Accession Number : ADA139532

Title :   Automatic Synthesis of Fine-Motion Strategies for Robots.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Lozano-Perez,T

PDF Url : ADA139532

Report Date : Dec 1983

Pagination or Media Count : 36

Abstract : The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs are quite sensitive to details of geometry and to error characteristics and must, therefore, be constructed anew for each task. These factors motivate the need for automatic synthesis tools for robot programming, especially for compliant motion. This paper describes formal approach to the synthesis of compliant motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control. A key aspect of the approach is that it provides correctness criteria for compliant motion strategies. (Author)

Descriptors :   *Automatic programming, *Robots, *Programmed instruction, *Motion, Strategy, Geometry, Estimates, Measurement, Errors, Artificial intelligence, Automatic, Synthesis

Subject Categories : Computer Programming and Software
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE