Application of a Generic Constraint-Based Programming Approach to an Industrially Relevant Robot Task with Geometric Uncertainties
This paper shows the application of a generic constraint-based task specification approach for sensor-based robot systems to a laser tracing example. Key properties of the used approach are (i) its ability to specify complex robot tasks by introducing auxiliary task-oriented feature coordinates, def...
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| creator | Decre, W. De Laet, T. Rutgeerts, J. Bruyninckx, H. De Schutter, J. |
| description | This paper shows the application of a generic constraint-based task specification approach for sensor-based robot systems to a laser tracing example. Key properties of the used approach are (i) its ability to specify complex robot tasks by introducing auxiliary task-oriented feature coordinates, defined with respect to user-defined object and feature frames, (ii) its support for both underconstrained and overconstrained robot tasks, and (iii) its ability to integrate sensor measurements in a unified way, using auxiliary uncertainty coordinates, to estimate geometric uncertainties in the robot system or its environment. Simulation and real world experimental results are presented. |
| doi_str_mv | 10.1109/EURCON.2007.4400691 |
| format | Conference Proceeding |
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Simulation and real world experimental results are presented.</description><subject>Application software</subject><subject>constraint-based programming</subject><subject>control</subject><subject>estimation</subject><subject>Force control</subject><subject>geometric uncertainty</subject><subject>laser tracing</subject><subject>Motion control</subject><subject>Robot control</subject><subject>Robot kinematics</subject><subject>Robot programming</subject><subject>Robot sensing systems</subject><subject>Service robots</subject><subject>Solid modeling</subject><subject>task specification</subject><subject>Uncertainty</subject><isbn>9781424408122</isbn><isbn>1424408121</isbn><isbn>142440813X</isbn><isbn>9781424408139</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kNFOwjAYhWuMiYo8ATd9gWHblY5e4oJAQsQQSLwj_7p_UN1a0lUNtz65I-LVyZec810cQgacDTln-nG6Xeerl6FgLBtKyZjS_Irccyk6GPP07Zr0dTb-ZyFuSb9t3xljPFOp1tkd-Zkcj7U1EK131FcU6AwdBmto7l0bA1gXkydosaSvwe8DNI11e9qtggdzoNFTcHThys-ubKGuT3SNNX6Bi3TtCx_pBtoP-m3joTP7BuPZvXUGQzy7LbYP5KaCusX-JXtk8zzd5PNkuZot8skysZrFBLgpi0wwHBVZlVbAFEoQI2OKqlRccCUqowsDWI6VEoILZZSWo8JIlXElRdojgz-tRcTdMdgGwml3eS39BVnRY80</recordid><startdate>200709</startdate><enddate>200709</enddate><creator>Decre, W.</creator><creator>De Laet, T.</creator><creator>Rutgeerts, J.</creator><creator>Bruyninckx, H.</creator><creator>De Schutter, J.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200709</creationdate><title>Application of a Generic Constraint-Based Programming Approach to an Industrially Relevant Robot Task with Geometric Uncertainties</title><author>Decre, W. ; De Laet, T. ; Rutgeerts, J. ; Bruyninckx, H. ; De Schutter, J.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-a1cdb720e5b7f3fa06e4a25ccbfd612162fc9bcaed86622126c6945bc46716423</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Application software</topic><topic>constraint-based programming</topic><topic>control</topic><topic>estimation</topic><topic>Force control</topic><topic>geometric uncertainty</topic><topic>laser tracing</topic><topic>Motion control</topic><topic>Robot control</topic><topic>Robot kinematics</topic><topic>Robot programming</topic><topic>Robot sensing systems</topic><topic>Service robots</topic><topic>Solid modeling</topic><topic>task specification</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Decre, W.</creatorcontrib><creatorcontrib>De Laet, T.</creatorcontrib><creatorcontrib>Rutgeerts, J.</creatorcontrib><creatorcontrib>Bruyninckx, H.</creatorcontrib><creatorcontrib>De Schutter, J.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Decre, W.</au><au>De Laet, T.</au><au>Rutgeerts, J.</au><au>Bruyninckx, H.</au><au>De Schutter, J.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Application of a Generic Constraint-Based Programming Approach to an Industrially Relevant Robot Task with Geometric Uncertainties</atitle><btitle>EUROCON 2007 - The International Conference on "Computer as a Tool"</btitle><stitle>EURCON</stitle><date>2007-09</date><risdate>2007</risdate><spage>2620</spage><epage>2626</epage><pages>2620-2626</pages><isbn>9781424408122</isbn><isbn>1424408121</isbn><eisbn>142440813X</eisbn><eisbn>9781424408139</eisbn><abstract>This paper shows the application of a generic constraint-based task specification approach for sensor-based robot systems to a laser tracing example. Key properties of the used approach are (i) its ability to specify complex robot tasks by introducing auxiliary task-oriented feature coordinates, defined with respect to user-defined object and feature frames, (ii) its support for both underconstrained and overconstrained robot tasks, and (iii) its ability to integrate sensor measurements in a unified way, using auxiliary uncertainty coordinates, to estimate geometric uncertainties in the robot system or its environment. Simulation and real world experimental results are presented.</abstract><pub>IEEE</pub><doi>10.1109/EURCON.2007.4400691</doi><tpages>7</tpages></addata></record> |
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| ispartof | EUROCON 2007 - The International Conference on "Computer as a Tool", 2007, p.2620-2626 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Application software constraint-based programming control estimation Force control geometric uncertainty laser tracing Motion control Robot control Robot kinematics Robot programming Robot sensing systems Service robots Solid modeling task specification Uncertainty |
| title | Application of a Generic Constraint-Based Programming Approach to an Industrially Relevant Robot Task with Geometric Uncertainties |
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