The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

Research Paper #485

Title:Achieving Robotic Assembly by Sensing and Controlling Spatial Relationships
Date:Jun 1990
Presented:Presented at IEEE International Workshop on Intelligent Motion Control, Istanbul, Turkey, August 1990
Abstract:An argument is given as to why position servo control is an inappropriate mode of control for a robotic manipulator performing the mating of rigid body components. A method of describing such assembly tasks in an invariant manner by expressing them as possible transitions between spatial relationships is presented, and it is shown that a manipulator whose joints are controlled in a compliant manner is able to learn assembly behaviour which reflects this invariant description by monitoring the effects of its interaction with the environment.

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