Now showing items 1-4 of 4
An Approach to Automatic Robot Programming
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
A Subdivision Algorithm in Configuration Space for Findpath with Rotation
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
Symbolic Error Analysis and Robot Planning
A program to control a robot manipulator for industrial assembly operations must take into account possible errors in parts placement and tolerances of the parts themselves. Previous approaches to this problem have been ...