Abstract
This paper describes methods for propogating systems of constrained variables, which may represent geometric uncertainties, sensing errors, disturbance forces, or other variations, through equations describing coordinate transformations in the task domain and for projecting the resulting large linear system onto a lower-dimensional space representing specific variations of interest for a particular problem. We have implemented a system based on these methods. We describe the mathematical representation, briefly describe two projection algorithms; and present a number of examples applying our implementation to robot task planning problems.
Original language | English (US) |
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Article number | 593281 |
Pages (from-to) | 231-236 |
Number of pages | 6 |
Journal | IEEE International Conference on Intelligent Robots and Systems |
Volume | 1988-October |
DOIs | |
State | Published - 1988 |
Externally published | Yes |
Event | 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan Duration: Oct 31 1988 → Nov 2 1988 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications