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Erschienen in:
Robotics and the Handbook Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

36. Motion for Manipulation Tasks

verfasst von : James Kuffner, Jing Xiao

Erschienen in: Springer Handbook of Robotics

Verlag: Springer International Publishing

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Abstract

This chapter serves as an introduction to Part D by giving an overview of motion generation and control strategies in the context of robotic manipulation tasks. Automatic control ranging from the abstract, high-level task specification down to fine-grained feedback at the task interface are considered. Some of the important issues include modeling of the interfaces between the robot and the environment at the different time scales of motion and incorporating sensing and feedback. Manipulation planning is introduced as an extension to the basic motion planning problem, which can be modeled as a hybrid system of continuous configuration spaces arising from the act of grasping and moving parts in the environment. The important example of assembly motion is discussed through the analysis of contact states and compliant motion control. Finally, methods aimed at integrating global planning with state feedback control are summarized.

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Vorheriges Kapitel Multisensor Data Fusion
Nächstes Kapitel Contact Modeling and Manipulation
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Metadaten
Titel
Motion for Manipulation Tasks
verfasst von
James Kuffner
Jing Xiao
Copyright-Jahr
2016
Verlag
Springer International Publishing
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-319-32550-7

Electronic ISBN: 978-3-319-32552-1

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-32552-1_36

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