Abstract
This paper outlines a new approach to fine motion planning in presence of uncertainty. The concept of position/force space is introduced, and the uncertainty sources briefly reviewed. With these elements a new model of the task is proposed using position/force states, and based on them, the procedure to obtain the plan and to execute it, is described. The method has no theoretical constraints on the number or type of the degrees of freedom, and can be used with different position/force control types.
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