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Título:	Description of a robotics-oriented relational positioning methodology
Autor/a:	Rodríguez Tsouroukdissian, Adolfo; Basañez Villaluenga, Luis; Celaya Llover, Enric
Otros autores:	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Abstract:	This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements. In relational positioning, the movements of an object can be restricted totally or partially by specifying its allowed positions in terms of a set of geometric constraints. These allowed positions are found by means of a 3D sequential geometric constraint solver called PMF – Positioning Mobile with respect to Fixed. PMF exploits the fact that in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently.
Materia(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robotics -Relational positioning methodology -Positioning Mobile with respect to Fixed -PMF -Robòtica
Derechos:	Attribution-NonCommercial-NoDerivs 2.5 Spain http://creativecommons.org/licenses/by-nc-nd/2.5/es/
Tipo de documento:	Informe
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