IRI - A relational positioning methodology for robot task specification and execution

Publication

A relational positioning methodology for robot task specification and execution

Journal Article (2008)

Journal

IEEE Transactions on Robotics

Pages

600-611

Volume

Number

Doc link

http://dx.doi.org/10.1109/TRO.2008.924263

File

Download the digital copy of the doc pdf document

Authors

Rodríguez Tsouroukdissian, Adolfo
Basañez Villaluenga, Luis
Celaya Llover, Enric

Abstract

This paper presents a relational positioning methodology that allows to restrict totally or partially the movements of an object by specifying its allowed positions in terms of a set of intuitive geometric constraints. In order to derive these positions, a geometric constraint solver must be used. To this end, positioning mobile with respect to fixed (PMF), a geometric constraint solver for the relational positioning of rigid objects in free space is introduced.

The solver exploits the fact that, in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently. PMF may be used as an interface for specifying offline-programmed robot tasks, as well as for assisting the execution of teleoperated tasks requiring constrained movements. Examples describing both the solver’s operation and typical applications are discussed.

Author keywords

assembly planning, geometric constraint solving, relational positioning, robot programming.

Scientific reference

A. Rodríguez, L. Basañez and E. Celaya. A relational positioning methodology for robot task specification and execution. IEEE Transactions on Robotics, 24(3): 600-611, 2008.