Hybrid control approach to the peg-in-hole problem

作者：Li YM^*

来源：IEEE Robotics and Automation Magazine, 1997, 4(2): 52-60.

DOI：10.1109/100.591646

• hybrid system
• control
• robot
• peg-in-hole

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.

• 出版日期1997-6
• 单位华南理工大学