Title :
Using hybrid cc to simulate multi-tier peg-in-hole problems
Author :
Fu, Qingchuan ; Branicky, Michael S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems
Keywords :
assembly planning; computer aided production planning; digital simulation; industrial robots; software tools; Hybrid cc language; continuous movement; discrete event detection; hybrid concurrent constraint language; hybrid system; peg-in-hole problems; peg-in-maze problem; robotic assembly; simulation; software tool; Arithmetic; Computational modeling; Control systems; Differential equations; Event detection; Gears; Robotic assembly; Runtime; Software tools; Switches;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782976
