• DocumentCode
    1254031
  • Title

    Hybrid control approach to the peg-in hole problem

  • Author

    Li, Yangmin

  • Author_Institution
    Robotics Res. Lab., South China Univ. of Technol., Guangzhou, China
  • Volume
    4
  • Issue
    2
  • fYear
    1997
  • fDate
    6/1/1997 12:00:00 AM
  • Firstpage
    52
  • Lastpage
    60
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.591646
  • Filename
    591646
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1254031