Title :
Hybrid control approach to the peg-in hole problem
Author_Institution :
Robotics Res. Lab., South China Univ. of Technol., Guangzhou, China
fDate :
6/1/1997 12:00:00 AM
Abstract :
Since the whole assembly process has typical phase transitions between control laws driven by the environment event, the techniques of hybrid control can be employed to specify the hybrid control properties. Finally a hybrid controller and corresponding hybrid control programs are designed using the HCSP language to describe a peg-in-hole problem
Keywords :
assembling; force control; formal specification; industrial robots; robot dynamics; specification languages; HCSP language; assembly process; control laws; environment event; hybrid control approach; peg-in hole problem; phase transitions; Assembly systems; Automatic control; Birth disorders; Control systems; Differential equations; Intelligent robots; Robot control; Robot sensing systems; Robotic assembly; Robotics and automation;
Journal_Title :
Robotics & Automation Magazine, IEEE
