Hybrid force/velocity discrete event controller synthesis for assembly tasks with friction

@article{Austin2000HybridFD,
  title={Hybrid force/velocity discrete event controller synthesis for assembly tasks with friction},
  author={David J. Austin and Brenan J. McCarragher},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={3},
  pages={3028-3033 vol.3}
}
A discrete event controller synthesis methodology for the successful convergence of assembly tasks is presented. The modelling of an assembly process as a hybrid dynamic system has been shown to be a very effective strategy to incorporate both the continuous and discrete natures of the interaction between the workpiece and its environment. Prior works have presented separate controller synthesis methodologies for both velocity- and force-controlled systems and here we present the next step, a… CONTINUE READING