Kenneth Y. Goldberg
ABSTRACT
As global labor costs increase and product life cycles decrease, there is renewed interest in research in automated manufacturing systems that can be reliably and rapidly configured. Inspired by Turing's abstractions for computing, Algorithmic Automation explores mathematical abstractions and algorithms that allow the functionality of assembly lines and manufacturing automation systems to be designed independent of their underlying implementations. Abstractions based on minimal sets of geometric primitives can provide the foundation for formal specification, analysis, design, optimization, and verification. Algorithmic Automation is characterized by: (1) formal specification of sets of admissible inputs (eg, polyhedra) and operations (eg, parallel-jaw grasps), (2) complete algorithms that compute all solutions or terminate with a report that no solution exists, and (3) bounds on complexity as a function of input size. This extended abstract summarizes selected results and open problems.
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Index Terms
- Putting the turing into manufacturing: recent developments in algorithmic automation
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