Hybrid dynamic modeling and control of constrained manipulation systems

Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modeling and control synthesis for robot manipulation. Additionally, methods for the effective monitoring of the process based on the detection and identification of discrete events are given. The effectiveness and versatility of the approach are demonstrated through a wide variety of experiments. Applications are demonstrated in assembly, online training of robots, advanced perception capabilities, human-robot shared control and the understanding of human manipulation skills