TY - GEN
T1 - Qualitative physics for robot task planning. II
T2 - IEEE/RSJ International Workshop on Intelligent Robot and Systems '91
AU - Liu, Jiming
AU - Daneshmend, Laeeque K.
PY - 1991/11
Y1 - 1991/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0026294305&partnerID=8YFLogxK
U2 - 10.1109/IROS.1991.174520
DO - 10.1109/IROS.1991.174520
M3 - Conference proceeding
AN - SCOPUS:0026294305
SN - 078030067X
VL - 2
T3 - IEEE International Workshop on Intelligent Robots and Systems (IROS)
SP - 494
EP - 501
BT - Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
PB - IEEE
Y2 - 3 November 1991 through 5 November 1991
ER -