Departmental Papers (ESE)


Assembly problems require that a robot with a few actuated degrees of freedom manipulate an environment with a greater number of unactuated degrees of freedom. Since the dynamical coupling between degrees of freedom in this setting is a function of their relative configuration, the motion of such systems is subject to constraints that preclude smooth feedback stabilization. This paper explores the extent to which assembly planning and control may be effected by recourse to some other methodical means of generating stabilizing feedback controllers. A partial solution is offered for a very simple assembly problem involving an intermittent dynamical environment.

For more information: Kod*Lab

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Conference Paper

Subject Area

GRASP, Kodlab

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Copyright 1991 IEEE. Reprinted from Proceedings of the American Control Conference March 1991 , pages 1627-1632.

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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.

Bib Tex

@inproceedings{koditschek-acc-1991, title = {Robot Assembly: Another Source of Nonholonomic Control Problems}, author = {D.E. Koditschek}, booktitle = {Proceedings of the American Control Conference}, year = {1991}, month = {June}, pages = {1627 - 1632}, }



Date Posted: 25 July 2014

This document has been peer reviewed.