Hybrid control approach to the peg-in-hole problem

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27 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 languageEnglish
Pages (from-to)52-60
Number of pages9
JournalIEEE Robotics and Automation Magazine
Volume4
Issue number2
DOIs
Publication statusPublished - 1 Jun 1997
Externally publishedYes

Keywords

  • Control
  • Hybrid system
  • Peg-in-hole
  • Robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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