DocumentCode :
2060297
Title :
Hybrid force/velocity discrete event controller synthesis for assembly tasks with friction
Author :
Austin, David J. ; McCarragher, Brenan J.
Author_Institution :
Center for Autonomous Syst., R. Inst. of Technol., Stockholm, Sweden
Volume :
3
fYear :
2000
fDate :
2000
Firstpage :
3028
Abstract :
A discrete event controller synthesis methodology for the successful convergence of assembly tasks is presented. The modelling of an assembly process as a hybrid dynamic system has been shown to be a very effective strategy to incorporate both the continuous and discrete natures of the interaction between the workpiece and its environment. Prior works have presented separate controller synthesis methodologies for both velocity- and force-controlled systems and here we present the next step, a hybrid force/velocity controller. Force control is a natural paradigm for assembly as it is fundamentally compliant and velocity control is used to ensure that frictional forces are overcome during sliding motions. Experimental results for a four degree of freedom assembly task are presented, demonstrating the robustness of the system to very large positioning and orientation errors
Keywords :
assembling; control system synthesis; convergence; discrete event systems; force control; industrial robots; position control; velocity control; assembly tasks; frictional forces; hybrid force/velocity discrete event controller; sliding motions; Assembly systems; Automatic control; Control system synthesis; Discrete event systems; Force control; Friction; Monitoring; Power system modeling; Robotic assembly; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
ISSN :
1050-4729
Print_ISBN :
0-7803-5886-4
Type :
conf
DOI :
10.1109/ROBOT.2000.846487
Filename :
846487
Link To Document :
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