A Relational Positioning Methodology for Robot Task Specification and Execution
A Relational Positioning Methodology for Robot Task Specification and Execution
复制标题
机器人任务规范和执行的关系定位方法
DOI：
10.1109/tro.2008.924263
复制
发表时间：
2008
影响因子：
7.8
通讯作者：
E. Celaya
中科院分区：
文献类型：
--
作者：
Adolfo Rodriguez;L. Basañez;E. Celaya
本文提出了一种关系定位方法，允许限制完全或部分的对象的运动，通过指定其允许的位置在一组直观的几何约束。为了导出这些位置，必须使用几何约束求解器。为此，定位移动的相对于固定（PMF），一个几何约束求解器的关系定位的刚性物体在自由空间中介绍。求解器利用了这样一个事实，即在一组几何约束中，旋转分量通常可以与平移分量分离并独立求解。PMF可以用作指定离线编程机器人任务的接口，以及用于协助执行需要约束运动的遥控任务。描述求解器的操作和典型应用的例子进行了讨论。
This paper presents a relational positioning methodology that allows to restrict totally or partially the movements of an object by specifying its allowed positions in terms of a set of intuitive geometric constraints. In order to derive these positions, a geometric constraint solver must be used. To this end, positioning mobile with respect to fixed (PMF), a geometric constraint solver for the relational positioning of rigid objects in free space is introduced. The solver exploits the fact that, in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently. PMF may be used as an interface for specifying offline-programmed robot tasks, as well as for assisting the execution of teleoperated tasks requiring constrained movements. Examples describing both the solver's operation and typical applications are discussed.