Specification and method for solving complex motion and calibration tasks
In this paper is presented an architecture permitting the specification and resolution of complex motion and calibration tasks. The description of such tasks leads to nonlinear functions optimization under equality and/or inequality constraints. The latter appears very commonly during robotics tasks...
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| container_end_page | 1807 vol.2 |
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| creator | Piccin, O. Giraud, A. |
| description | In this paper is presented an architecture permitting the specification and resolution of complex motion and calibration tasks. The description of such tasks leads to nonlinear functions optimization under equality and/or inequality constraints. The latter appears very commonly during robotics tasks execution. For example, while moving in a cluttered environment, it might be useful to keep some objects away from obstacles. The proposed method is based on a task description in terms of contact relationships to establish or maintain between parts of the modeled system. Some typical examples of tasks have been specified and performed to demonstrate the presented concepts. This architecture has been designed with the intention to integrating it into a remote manipulator teleprogramming system. |
| doi_str_mv | 10.1109/ROBOT.1995.525531 |
| format | Conference Proceeding |
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The description of such tasks leads to nonlinear functions optimization under equality and/or inequality constraints. The latter appears very commonly during robotics tasks execution. For example, while moving in a cluttered environment, it might be useful to keep some objects away from obstacles. The proposed method is based on a task description in terms of contact relationships to establish or maintain between parts of the modeled system. Some typical examples of tasks have been specified and performed to demonstrate the presented concepts. This architecture has been designed with the intention to integrating it into a remote manipulator teleprogramming system.</description><identifier>ISSN: 1050-4729</identifier><identifier>ISBN: 0780319656</identifier><identifier>ISBN: 9780780319653</identifier><identifier>EISSN: 2577-087X</identifier><identifier>DOI: 10.1109/ROBOT.1995.525531</identifier><language>eng</language><publisher>IEEE</publisher><subject>Calibration ; Constraint optimization ; Design engineering ; Equations ; Kinematics ; Manipulators ; Programming environments ; Robotic assembly ; Robotics and automation ; Robots</subject><ispartof>Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995, Vol.2, p.1802-1807 vol.2</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/525531$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,4050,4051,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/525531$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Piccin, O.</creatorcontrib><creatorcontrib>Giraud, A.</creatorcontrib><title>Specification and method for solving complex motion and calibration tasks</title><title>Proceedings of 1995 IEEE International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>In this paper is presented an architecture permitting the specification and resolution of complex motion and calibration tasks. The description of such tasks leads to nonlinear functions optimization under equality and/or inequality constraints. The latter appears very commonly during robotics tasks execution. For example, while moving in a cluttered environment, it might be useful to keep some objects away from obstacles. The proposed method is based on a task description in terms of contact relationships to establish or maintain between parts of the modeled system. Some typical examples of tasks have been specified and performed to demonstrate the presented concepts. This architecture has been designed with the intention to integrating it into a remote manipulator teleprogramming system.</description><subject>Calibration</subject><subject>Constraint optimization</subject><subject>Design engineering</subject><subject>Equations</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Programming environments</subject><subject>Robotic assembly</subject><subject>Robotics and automation</subject><subject>Robots</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780319656</isbn><isbn>9780780319653</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1995</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9UNtKxDAUDF7Auu4H6FN-oPWcXJrmURcvCwsFXcG3JU0TjfZGU0T_3kLFeZl5mBmGIeQSIUMEff1U3pb7DLWWmWRScjwiCZNKpVCo12NyDqoAjjqX-QlJECSkQjF9RtYxfsAMISRXOiHb58HZ4IM1U-g7arqatm5672vq-5HGvvkK3Ru1fTs07pu2_b_LmiZU45KaTPyMF-TUmya69R-vyMv93X7zmO7Kh-3mZpcGVGxKRS6Kms_rfM0q5jTWwKR2nqE3oJyctQbNK6lyC8YD2sqbgvFCYSU4WL4iV0tvcM4dhjG0Zvw5LCfwX0_iTtg</recordid><startdate>1995</startdate><enddate>1995</enddate><creator>Piccin, O.</creator><creator>Giraud, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1995</creationdate><title>Specification and method for solving complex motion and calibration tasks</title><author>Piccin, O. ; Giraud, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i172t-4648d3780fd2b2e91d0259ef21fa07e559e9093b576c0af01cbfa823871b430c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1995</creationdate><topic>Calibration</topic><topic>Constraint optimization</topic><topic>Design engineering</topic><topic>Equations</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Programming environments</topic><topic>Robotic assembly</topic><topic>Robotics and automation</topic><topic>Robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Piccin, O.</creatorcontrib><creatorcontrib>Giraud, A.</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>Piccin, O.</au><au>Giraud, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Specification and method for solving complex motion and calibration tasks</atitle><btitle>Proceedings of 1995 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1995</date><risdate>1995</risdate><volume>2</volume><spage>1802</spage><epage>1807 vol.2</epage><pages>1802-1807 vol.2</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>0780319656</isbn><isbn>9780780319653</isbn><abstract>In this paper is presented an architecture permitting the specification and resolution of complex motion and calibration tasks. The description of such tasks leads to nonlinear functions optimization under equality and/or inequality constraints. The latter appears very commonly during robotics tasks execution. For example, while moving in a cluttered environment, it might be useful to keep some objects away from obstacles. The proposed method is based on a task description in terms of contact relationships to establish or maintain between parts of the modeled system. Some typical examples of tasks have been specified and performed to demonstrate the presented concepts. This architecture has been designed with the intention to integrating it into a remote manipulator teleprogramming system.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1995.525531</doi></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995, Vol.2, p.1802-1807 vol.2 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_525531 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Calibration Constraint optimization Design engineering Equations Kinematics Manipulators Programming environments Robotic assembly Robotics and automation Robots |
| title | Specification and method for solving complex motion and calibration tasks |
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