Robot Task Planning

  • Adam Morecki
  • Józef Knapczyk
Part of the International Centre for Mechanical Sciences book series (CISM, volume 402)


Robot programming is particularly difficult in the case of complicated tasks requiring complex operations in three-dimensional workspaces where those operations are also coordinated by the information from sensors. And even for relatively simple tasks performed by currently produced industrial robots, the cost involved in their programming can be comparable to the price of the robot itself. Consequently, it is only natural that methods for simplifying robot programming are a priority issue. Treating a robot’s operations only in terms of results on the objects of manipulation seems to be one way of solving this problem. For instance, it is easier for a user to define an operation: “place the pivot in the hole” than specify the sequence of manipulator motions required for achieve that result.


Joint Space Problem Situation Collision Detection Trajectory Planning Elementary Operation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1999

Authors and Affiliations

  • Adam Morecki
    • 1
  • Józef Knapczyk
    • 2
  1. 1.Warsaw University of TechnologyPoland
  2. 2.Cracow University of TechnologyPoland

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