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Representation and propagation of positioning uncertainties through manipulation robot programs-integration into a task-level programming system

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2 Author(s)
Mazon, I. ; Lab. d''Autom. et d''Anal. de Syst., Toulouse, France ; Alami, R.

The authors propose a representation of positioning uncertainty for robot manipulation tasks and a method by which it can be propagated through robot programs. The objective is to integrate error propagation and analysis into a task-level programming system in order to produce robust programs. This integration is discussed with reference to an example. The method consists of evaluating progressively the uncertainty through a sequence of actions and maintaining a symbolic trace of computations. When a constraint is violated, the system determines the predominant source of uncertainty in order to guide the planning process

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989

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