Geometric Reasoning In Task Planning

E. E Pickett; R. Jha

doi:10.1117/12.950792

11 December 1985 Geometric Reasoning In Task Planning

E. E Pickett, R. Jha

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950792
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

Abstract

This paper deals with the acquisition of an object by a manipulator arm when there is significant uncertainty concerning the position and orientation of the object. The key operation is planning the grasp. Objects are modelled using constraint sets. A constraint manipulation system is employed to maintain a more efficient representation. These models combine all sources of uncertainty in the position, orientation and size of objects. Geometric reasoning is applied to the hand and object models to find a suitable grasp configuration. This involves predicting a probable configuration and checking for feasibity. Trajectory planning which enables the hand to achieve the grasp smoothly, without collision with other objects is also discussed.

Citation Download Citation

E. E Pickett and R. Jha "Geometric Reasoning In Task Planning", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950792

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