Hybrid control approach to the peg-in-hole problem

Yangmin Li

doi:10.1109/100.591646

Hybrid control approach to the peg-in-hole problem

Yangmin Li

Research output: Journal article publication › Journal article › Academic research › peer-review

36 Citations (Scopus)

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 lan guage to describe a peg-in-hole problem.

Original language	English
Pages (from-to)	52-60
Number of pages	9
Journal	IEEE Robotics and Automation Magazine
Volume	4
Issue number	2
DOIs	https://doi.org/10.1109/100.591646
Publication status	Published - 1 Jun 1997
Externally published	Yes

Keywords

Control
Hybrid system
Peg-in-hole
Robot

ASJC Scopus subject areas

Control and Systems Engineering

More information

10.1109/100.591646

Cite this

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Hybrid control approach to the peg-in-hole problem

Abstract

Keywords

ASJC Scopus subject areas

More information

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