Robot Assembly: Another Source of Nonholonomic Control Problems
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Electrical and Computer Engineering
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Systems Engineering
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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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Copyright 1991 IEEE. Reprinted from Proceedings of the American Control Conference March 1991 , pages 1627-1632. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. 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.