Title :
Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies
Author :
Whitcomb, Louis L. ; Koditschek, Daniel E. ; Cabrera, João B D
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
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
Keywords :
assembling; digital simulation; industrial robots; production control; production engineering computing; 2-D sphere assemblies; 2D sphere assemblies; artificial potential functions; automatic actuator command generation; automatic control; digital simulation; industrial robots; manipulator; primitive constructive theory; production control; robot assembly tasks; Actuators; Automatic control; Computer aided software engineering; Manipulators; Motion control; Motion planning; Robotic assembly; Robotics and automation; Robots; Tracking;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219933