We propose an event-driven algorithm for the control of simple robot assembly problems based on noncooperative game theory. We examine rigorously the simplest setting — three bodies with one degree of freedom and offer extensive simulations for the 2 DOF extension. The initial analysis and the accompanying simulations suggest that this approach may indeed, offer an attractive means of building robust event driven assembly systems.
Date of this Version
noncooperative game, robot assembly, event driven assembly
Date Posted: 03 April 2008
This document has been peer reviewed.