Rethinking synthesis of fine-motion strategies

Technical Report · Fri Jun 02 00:00:00 EDT 1989

OSTI ID:5636746

Strip, D

In their influential paper, ''Automatic Synthesis of Fine-Motion Strategies for Robots,'' Lozano-Perez, Mason, and Taylor hypothesize that fine-motion strategies are inherently dependent on fine details of part geometry. They propose a complex algorithm which accounts for fine details in developing fine-motion strategies. Recent work on insertions and grasping suggests that the use of force-directed strategies allows the development of robust action primitives that are independent of all but the grossest details of geometry. 14 refs., 3 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 5636746
• Report Number(s): SAND-89-0547; ON: DE89016671
• Country of Publication: United States
• Language: English

Related Subjects

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99 GENERAL AND MISCELLANEOUS
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ALGORITHMS
AUTOMATION
EQUIPMENT
GEOMETRY
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MATHEMATICS
NAVIGATION
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ROBOTS