Title :
Automatic assembly planning and control via potential functions
Author :
Whitcomb, Louis L. ; Koditschek, Daniel E.
Author_Institution :
Center for Syst. Sci., Yale Univ., New Haven, CT, USA
Abstract :
An approach to the problem of automated assembly planning and control using artificial potential functions is described. A simple class of tasks, 2D sphere assemblies, is examined. A constructive theory for the planning and control of this class of tasks is presented. Computer simulations demonstrate that the approach may provide surprisingly good performance
Keywords :
assembling; planning (artificial intelligence); robots; 2D sphere assemblies; assembly control; automated assembly planning; potential functions; Assembly systems; Automatic control; Computer aided manufacturing; Control systems; Force control; Manufacturing automation; Navigation; Robotic assembly; Robotics and automation; Robust stability;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174420
