tim@LINC.CIS.UPENN.EDU.UUCP (02/23/87)
Computer and Information Science
University of Pennsylvania
307 Towne Building
10:30 February 25, 1987
Planning Robotic Manipulation Strategies
Michael A. Peshkin
Carnegie Mellon University
Automated planning of grasping or manipulation requires an understanding
of the physics and the geometry of objects in contact. Sliding figures
prominently, but since the pressure distribution between the surfaces in
contact is unknown, deterministic solution for the motion is impossible.
I have found the locus of motions over all distributions. Strategies based
on these results succeed despite unknown pressure distribution.
We also desire strategies which succeed despite uncertain initial position
of a workpiece. Configuration maps are introduced, mapping all configurations
of a part before an elementary operation onto all possible outcomes. Products
of configuration maps are used to synthesize complex strategies which succeed
for a wide range of initial positions of the workpiece.