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Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies

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3 Author(s)
Whitcomb, L.L. ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; Koditschek, D.E. ; Cabrera, J.B.D.

An approach to the problem of controlling automated assembly tasks using artificial potential functions is described. The authors address the automatic generation of actuator commands for a robot manipulator that result in the motion of a collection of rigid-body parts from disassembled initial configurations to an assembled final configuration. A simple class of tasks, 2D sphere assemblies, is examined. A primitive constructive theory for the control of this class of tasks is presented. Preliminary computer simulations demonstrate that the proposed approach may provide surprisingly good performance

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992