This paper describes a formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control. A key aspect of the approach is that it provides criteria for correctness of compliant-motion strategies.
|Original language||English (US)|
|Number of pages||22|
|Journal||International Journal of Robotics Research|
|Publication status||Published - Mar 1984|
ASJC Scopus subject areas
- Control and Systems Engineering