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Toward the Automatic Control of Robot Assembly Tasks via Potential Functions: The Case of 2-D Sphere Assemblies

Proceedings of the IEEE International Conference on Robotics and Automation, May 1992

Louis L. Whitcomb, D. E. Koditschek, and Joao B. D. Cabrera
Yale University
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       A new approach to the problem of controlling automated assembly tasks using artificial potential functions isdescribed. A simple class of tasks, 2-D sphere assemblies, is examined. A primitive constructive theory for the control of this class of tasks is presented. Preliminary computer simulations demonstrate the new approach may provide surprisingly good performance.
BibTeX entry
   title     = {Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies},
   author    = {Whitcomb, L.L. and Koditschek, D.E. and Cabrera, J.B.D.},
   booktitle = {Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on},
   year      = {1992},
   month     = {May},
   pages     = {2186-2191 vol.3},
   doi       = {10.1109/ROBOT.1992.219933}
Copyright 1992 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, 1992., Volume 3, pages 2186–2191.
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 pubs-permissions@ieee.org. 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.

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