Experiments in force controlled assembly using a discrete event framework

A new discrete event controller synthesis methodology for the successful convergence of assembly tasks is presented. Discrete event control has been shown to be a very effective strategy to incorporate both the continuous and discrete natures of an assembly task. A discrete event controller synthesis methodology for force-controlled systems is highly desirable because force control is naturally compliant and compliance reduces sensitivity to positioning errors. In this paper we present a number of experimental results for the new controller synthesis method, including a complete assembly task. These experiments demonstrate the effectiveness of the combination of discrete event control and force control for assembly tasks, successfully completing the assembly with positioning errors of up to 50 mm and orientation errors of up to 30°