Tham khảo tài liệu 'sensing intelligence motion - how robots & humans move - vladimir j. lumelsky part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 6 MOTION PLANNING - INTRODUCTION that require motion planning. Robots in automotive industry are today among the most successful most cost-effective and most reliable machines. Robot motion planning algorithms have penetrated areas far from robotics from designing quick-to-disassemble aircraft engines for part replacement at the airport gate to studies of folding mechanisms of DNA molecules. It is the unstructured environment where our success stops. We have difficulty moving robots into our messy world with its unending uncertainty. That is where the situation is bleak indeed and that is where robotics is needed badly. The situation is not black and white but rather continuous. The closer a task is to that in a fully structured environment the better the chance that today s approaches with complete information will apply to it. This is good news. When considering a robot mission to replace the batteries gyroscopes and some scientific instruments of the aging Hubble Space Telescope NASA engineers were gratified to know that with the telescope being a fully man-made creature its repair presents an almost fully structured task. The word almost is not to be overlooked here once in a while things may not be exactly as planned The robot may encounter an unscrewed or bent bolt a broken cover or a shifted cable. Unlike an automotive plant where operators check out the setup once or twice a day no such luxury would exist for the Hubble ground operators. Although luckily the amount of unstructuredness is small in the Hubble repair task it calls for serious attention to sensing hardware and to its intimate relation to robot motion planning. Remarkably even the unstructuredness that small led to the project s cancellation. A one-dimensional picture showing the effect of increase in uncertainty on the task difficulty as one moves from a fully structured environment to a fully unstructured environment is shown in Figure . An automotive assembly line the extreme left in the .
