Feasible Tasks for Manipulators with Uncertainty and Compliance


Some results are presented concerning the feasibility of a task for a robot manipulator in a given configuration. The feasibility is influenced by the uncertainties in the kinematic parameters of the robot manipulator, the tolerances permitted by the task, and the compliance required to achieve the task. The extended manipulator Jacobian, defined as the Jacobian of the map from the space of all kinematic parameters of the robot to the task space, is utilized to determine the feasibility of the task. A formula for the efficient computation of error bounds is presented. Conditions on the effective compliance of the robot are derived for the planar peg-in-hole assembly problem.

Meeting Name

1987 IEEE International Conference on Systems, Man and Cybernetics


Mechanical and Aerospace Engineering

Keywords and Phrases

Extended Manipulators Jacobian; Feasible Tasks; Kinematic Parameters Uncertainties; Manipulators with Uncertainty and Compliance; Uncertainty Computation

Document Type

Article - Conference proceedings

Document Version


File Type





© 1987 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 1987

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