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Force Control Command Synthesis for Constrained Hybrid Dynamic Systems with Friction

Austin, David; McCarragher, B J


A new hybrid dynamic controller synthesis methodology for the successful convergence of force-controlled assembly tasks with friction is presented. Hybrid dynamic modeling has been shown to be a very effective strategy to incorporate both the continuous-time and discrete-event natures of an assembly task. Previously, hybrid dynamic controllers have used velocity control. This paper develops a hybrid dynamic controller that uses force control, the accepted paradigm for constrained motion systems...[Show more]

CollectionsANU Research Publications
Date published: 2001
Type: Journal article
Source: International Journal of Robotics Research


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