Toward the automatic control of robot assembly tasks via potential

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.