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Comment on “automatic planning of manipulator transfer movements”

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1 Author(s)
Graham, J.H. ; Rensselaer Polytech. Inst., Troy, NY, USA

It is pointed out that because errors in a manipulator environment come from a variety of sources, a worst-case correction as described by Lozano-Perez (ibid., vol.SMC-11, no.10, p.681-9, 1981) is unduly restrictive, and could lead to the fallacious conclusion that certain movements are not possible, or to the overspecification of tolerances on system components. It is shown how a simple probabilistic model and some straightforward mathematics can be used to produce an expansion limit that is much less restrictive in path planning.

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:SMC-14 ,  Issue: 3 )