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Hybrid control approach to the peg-in hole problem

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1 Author(s)
Yangmin Li ; Robotics Res. Lab., South China Univ. of Technol., Guangzhou, China

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 language to describe a peg-in-hole problem

Published in:

Robotics & Automation Magazine, IEEE  (Volume:4 ,  Issue: 2 )