Hybrid dynamic control and adaptation of constrained manipulation systems

Presents the fundamentals of a hybrid dynamic framework applied to constrained manipulation. The formalised modelling and control synthesis are given. Additionally, a method of task-level adaptation, suitable for the online training of assembly lines, is detailed. Importantly, the method is applied and demonstrated on an industrial-standard assembly with very tight tolerances. A gear mechanism for a starter motor is successfully assembled. Furthermore, the online adaptation method is used to train the robots and improve the assembly of the gear mechanism. The results are very positive, encouraging further development of the hybrid dynamic framework