Qualitative physics for robot task planning. II: Kinematics of mechanical devices

Jiming Liu*, Laeeque K. Daneshmend

*Corresponding author for this work

Research output: Chapter in book/report/conference proceedingConference proceedingpeer-review

2 Citations (Scopus)

Abstract

As augmentations to syntactical task planning [13], kinematic models facilitate the specification of robot-level motion strategies for mechanism-oriented manipulation tasks. This paper presents a qualitative geometric reasoning approach to the analysis of robot task kinematics. The qualitative approach permits computationally efficient, approximate, solution of kinematic problems without using exact information on the geometry of mechanisms and provides a basis for the functional simulation of robot manipulation.

Original languageEnglish
Title of host publicationProceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
PublisherIEEE
Pages494-501
Number of pages8
Volume2
ISBN (Print)078030067X
DOIs
Publication statusPublished - Nov 1991
EventIEEE/RSJ International Workshop on Intelligent Robot and Systems '91 - Osaka, Japan
Duration: 3 Nov 19915 Nov 1991

Publication series

NameIEEE International Workshop on Intelligent Robots and Systems (IROS)

Conference

ConferenceIEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Country/TerritoryJapan
CityOsaka
Period3/11/915/11/91

Scopus Subject Areas

  • Engineering(all)

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