Force Control Command Synthesis for Constrained Hybrid Dynamic Systems with Friction
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]
|Collections||ANU Research Publications|
|Source:||International Journal of Robotics Research|
|01_Austin_Force_Control_Command_2001.pdf||343.93 kB||Adobe PDF||Request a copy|
|02_Austin_Force_Control_Command_2001.pdf||347.69 kB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.