Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1992


Copyright 1992 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, 1992., Volume 3, pages 2186-2191.

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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.



Date Posted: 11 July 2008

This document has been peer reviewed.