Abstract
In this paper we discuss assembly stability as a criterion for cost evaluation in robot assembly. We propose an algorithm for the calculation of the set of potentially stable orientations of arbitrary configurations of rigid bodies considering static friction under uniform gravity. The algorithm determines the magnitudes of the contact forces leading to potential assembly stability using linear programming techniques. A new evaluation function based on the set of potentially stable assembly orientations is proposed and integrated into the assembly cost evaluation of a high level assembly planning system. The proposed stability analysis is an indispensible prerequisite for the execution of robot assembly operations generated by a task-level programming system.
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