Share Email Print

Proceedings Paper

Geometric Reasoning In Task Planning
Author(s): E. E Pickett; R. Jha
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper 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.

Paper Details

Date Published: 11 December 1985
PDF: 10 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950792
Show Author Affiliations
E. E Pickett, University of Toronto (Canada)
R. Jha, University of Toronto (Canada)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

© SPIE. Terms of Use
Back to Top