Automatic assembly planning and control via potential functions

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. Comments Copyright 1991 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Volume 1, 1991, pages 17-23. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/385 Department of Electrical & Systems Engineering Departmental Papers (ESE) University of Pennsylvania Year  Automatic assembly planning and control via potential functions Louis L. Whitcomb ∗ Daniel E. Koditschek † ∗Yale University, †University of Pennsylvania, [email protected] Copyright 1991 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems 1991. ‘Intelligence for Mechanical Systems, IROS ’91., Volume 1, pages 17 23. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania. This paper is posted at ScholarlyCommons@Penn. http://repository.upenn.edu/ese papers/1 IEEE/RSJ International Workshop on Intelligent Robots and Systems IROS '91, Nov. 3-5. 1991, Osaka, Japan. IEEE Cat. No. 91TH0375-6 Automatic Assembly Planning and Control via Potential Functions Louis L. Whitcomb and Daniel E. Koditschek • Center for Systems Science Yale University, Department of Electrical Engineering