摘要: This chapter serves as an introduction to Part D by giving overview of motion generation and control strategies in the context robotic manipulation tasks. Automatic ranging from abstract, high-level task specification down fine-grained feedback at interface are considered. Some important issues include modeling interfaces between robot environment different time scales incorporating sensing feedback. Manipulation planning is introduced extension basic problem, which can be modeled a hybrid system continuous configuration spaces arising act grasping moving parts environment. The example assembly discussed through analysis contact states compliant control. Finally, methods aimed integrating global with state summarized.
springer.com
sci-hub.se 参考文章(183)
M.A. Peshkin, Programmed compliance for error corrective assembly international conference on robotics and automation. ,vol. 6, pp. 473- 482 ,(1990) , 10.1109/70.59358
Bijan Shirinzadeh, Issues in the design of the reconfigurable fixture modules for robotic assembly Journal of Manufacturing Systems. ,vol. 12, pp. 1- 14 ,(1993) , 10.1016/0278-6125(93)90032-O
P. Jiménez, Survey on assembly sequencing: a combinatorial and geometrical perspective Journal of Intelligent Manufacturing. ,vol. 24, pp. 235- 250 ,(2013) , 10.1007/S10845-011-0578-5
Jindong Tan, Ning Xi, Yuechao Wang, Integrated Task Planning and Control for Mobile Manipulators The International Journal of Robotics Research. ,vol. 22, pp. 337- 354 ,(2003) , 10.1177/0278364903022005004
B.A. Jones, I.D. Walker, Kinematics for multisection continuum robots IEEE Transactions on Robotics. ,vol. 22, pp. 43- 55 ,(2006) , 10.1109/TRO.2005.861458
T. Lefebvre, H. Bruyninckx, J. DeSchutter, Online statistical model recognition and State estimation for autonomous compliant motion systems man and cybernetics. ,vol. 35, pp. 16- 29 ,(2005) , 10.1109/TSMCC.2004.840053
Kevin M. Lynch, Matthew T. Mason, Stable pushing: mechanics, controllability, and planning The International Journal of Robotics Research. ,vol. 15, pp. 533- 556 ,(1996) , 10.1177/027836499601500602
Oussama Khatib, Object manipulation in a multi-effector robot system international symposium on robotics. pp. 137- 144 ,(1988)
S. Neppalli, M.A. Csencsits, B.A. Jones, I. Walker, A geometrical approach to inverse kinematics for continuum manipulators intelligent robots and systems. pp. 3565- 3570 ,(2008) , 10.1109/IROS.2008.4651125
G. Dakin, R. Popplestone, Contact space analysis for narrow-clearance assemblies international symposium on intelligent control. pp. 542- 547 ,(1993) , 10.1109/ISIC.1993.397639