Measuring worst-case errors in a robot workcell

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Errors in model parameters, sensing, and control are inevitably present in real robot systems. These errors must be considered in order to automatically plan robust solutions to many manipulation tasks. Lozano-Perez, Mason, and Taylor proposed a formal method for synthesizing robust actions in the presence of uncertainty; this method has been extended by several subsequent researchers. All of these results presume the existence of worst-case error bounds that describe the maximum possible deviation between the robot`s model of the world and reality. This paper examines the problem of measuring these error bounds for a real robot workcell. These measurements are ... continued below

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28 p.

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Simon, R. W.; Brost, R. C. & Kholwadwala, D. K. October 1997.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Errors in model parameters, sensing, and control are inevitably present in real robot systems. These errors must be considered in order to automatically plan robust solutions to many manipulation tasks. Lozano-Perez, Mason, and Taylor proposed a formal method for synthesizing robust actions in the presence of uncertainty; this method has been extended by several subsequent researchers. All of these results presume the existence of worst-case error bounds that describe the maximum possible deviation between the robot`s model of the world and reality. This paper examines the problem of measuring these error bounds for a real robot workcell. These measurements are difficult, because of the desire to completely contain all possible deviations while avoiding bounds that are overly conservative. The authors present a detailed description of a series of experiments that characterize and quantify the possible errors in visual sensing and motion control for a robot workcell equipped with standard industrial robot hardware. In addition to providing a means for measuring these specific errors, these experiments shed light on the general problem of measuring worst-case errors.

Physical Description

28 p.

Notes

INIS; OSTI as DE98000892

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  • Other Information: PBD: Oct 1997

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  • Other: DE98000892
  • Report No.: SAND--97-2340
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/541822 | External Link
  • Office of Scientific & Technical Information Report Number: 541822
  • Archival Resource Key: ark:/67531/metadc691722

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • October 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

Description Last Updated

  • Feb. 8, 2016, 7:24 p.m.

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Simon, R. W.; Brost, R. C. & Kholwadwala, D. K. Measuring worst-case errors in a robot workcell, report, October 1997; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc691722/: accessed December 12, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.