AUTOMATIC SYNTHESIS OF FINE-MOTION STRATEGIES FOR ROBOTS.

Tomas Lozano-Perez, Matthew T. Mason, Russell H Taylor

Research output: Contribution to journalArticle

Abstract

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 languageEnglish (US)
Pages (from-to)3-24
Number of pages22
JournalInternational Journal of Robotics Research
Volume3
Issue number1
Publication statusPublished - Mar 1984
Externally publishedYes

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ASJC Scopus subject areas

  • Control and Systems Engineering

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