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1 results

  • An approach to autonomous robot assembly

  • Daniel E. Koditschek
  • Journal:
    Robotica / Volume 12 / Issue 2 / March 1994
    Published online by Cambridge University Press:
    09 March 2009, pp. 137-155

  • Assembly problems require that a robot with fewer actuated degrees of freedom manipulate an environment containing a greater number of unactuated degrees of freedom. From the perspective of control theory, these problems hold considerable interest because they are characterized by the presence of non-holonomic constraints that preclude the possibility of feedback stabilization. In this sense they necessitate the introduction of a hierarchical controller. This paper explores these issues in the simple instance when all of the pieces to be assembled are constrained to lie on a line. A hierarchical controller is devised for this problem and is shown to be correct: the closed loop system achieves any desired final assembly from all initial configurations that lie in its connected component in configuration space; the generated sequence of motions never causes collisions between two pieces. Further examination of this approach interprets the controller's mediation of conflicting subgoals as promoting an M-player game amongst the pieces to be assembled.