{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:45:57Z","timestamp":1777715157560,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[1991,6,1]],"date-time":"1991-06-01T00:00:00Z","timestamp":675734400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1991,6]]},"abstract":"<jats:p>The uncertainty and compliance of a robot manipulator used to perform a task are considered. A formula is derived for the efficient computation of a tight bound on the uncertainty of the end effector, given the uncertainty in the kinematic pa rameters of the robot. It is shown that the total uncertainty is the Minkowski difference of the manipulator uncertainty and the task position uncertainty. Simulations are performed in which the results are used to determine configurations of a robot for which the total uncertainty is within a specified tolerance.<\/jats:p>\n                  <jats:p>The suitability of the compliance of a manipulator for performing a planar peg-in-hole type assembly task is also studied. Manipulators are modeled as having rigid links and compliant joints, following experimental results. It is shown that given any symmetric positive semidefinite compliance, a robot manipulator of the above type can be constructed that will realize this compliance at some point in its work space. A new condition on the stiffness is proposed for preventing jamming. If the peg is supported by the end effector of a robot, we can determine configurations of the robot at which jam ming can be avoided. Simulations are performed to compute the no-jam configurations of a manipulator.<\/jats:p>\n                  <jats:p>The results developed here have direct application to sev eral areas of robotics: determining whether a robotic task is feasible in the presence of uncertainty and joint compliance, choosing work space locations for a robotic task, and the design and selection of robot manipulators.<\/jats:p>\n                  <jats:p>1. This is called two- point contact in Whitney (1982).<\/jats:p>\n                  <jats:p>2. That is, errors resulting from both the end-effector and task position uncertainties.<\/jats:p>\n                  <jats:p>\n                    3. The symbol ( )\n                    <jats:sup>T<\/jats:sup>\n                    denotes the transpose.\n                  <\/jats:p>\n                  <jats:p>4. The half-size of a box is half the length of the box in a specified coordinate direction.<\/jats:p>\n                  <jats:p>5. Also called the set-sum.<\/jats:p>\n                  <jats:p>6. The effective compliance refers to the compliance at the peg tip resulting from the compliance of the robot or some other support.<\/jats:p>","DOI":"10.1177\/027836499101000302","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"200-213","source":"Crossref","is-referenced-by-count":28,"title":["Uncertainty and Compliance of Robot Manipulators with Applications to Task Feasibility"],"prefix":"10.1177","volume":"10","author":[{"given":"Dinesh K.","family":"Pai","sequence":"first","affiliation":[{"name":"Department of Computer Science Cornell University Ithaca, New York 14853"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.C.","family":"Leu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering New Jersey Institute of Technology Newark, New Jersey 07102"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,6,1]]},"reference":[{"key":"atypb1","volume-title":"Chamferless assembly of rectangular parts in two and three dimensions","author":"Caine, M.E.","year":"1985"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88036"},{"key":"atypb3","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","volume":"22","author":"Denavit, J.","year":"1955","journal-title":"J. Appl. Mech."},{"key":"atypb4","volume-title":"Error detection and recovery for robot motion planning with uncertainty","author":"Donald, B.R.","year":"1987"},{"key":"atypb5","volume-title":"On motion planning with uncertainty","author":"Erdmann, M.A.","year":"1984"},{"key":"atypb6","volume-title":"Convex Polytopes","author":"Grunbaum, B.","year":"1967"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(81)90010-0"},{"key":"atypb8","unstructured":"Leu, M.C., Dukovski, V., and Wang, K.K. 1985. An analytical and experimental study of the stiffness of robot manipulators with parallel mechanisms. In Bound Volume on Robotics and Manufacturing Automation. Miami Beach, Florida, ASME Winter Annual Meeting, November, 1985, pp. 137-143."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"atypb10","volume-title":"Interval Analysis","author":"Moore, R.E.","year":"1966"},{"key":"atypb11","first-page":"151","volume":"2","author":"Mooring, B.W.","year":"1983","journal-title":"Proc. ASME Comp. Engineer."},{"key":"atypb12","volume-title":"Robot Manipulators: Mathematics, Programming, and Control","author":"Paul, R.P.","year":"1981"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-1098-6"},{"key":"atypb14","volume-title":"Proceedings of the 1985 American Control Conference","author":"Rivin, E.I."},{"key":"atypb15","volume-title":"Proc. of the 5th International Symposium on Industrial Robot","author":"Simunovic, S."},{"key":"atypb16","volume-title":"Introduction to Matrix Computations","author":"Stewart, G.W.","year":"1973"},{"key":"atypb17","volume-title":"The synthesis of manipulator control programs from task-level specifications","author":"Taylor, R.H.","year":"1976"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143737"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300105"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000302","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000302","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:13Z","timestamp":1777457653000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000302"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,6]]},"references-count":21,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1991,6]]}},"alternative-id":["10.1177\/027836499101000302"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000302","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,6]]}}}