Skip navigation
Skip navigation

Force Control Command Synthesis for Constrained Hybrid Dynamic Systems with Friction

Austin, David; McCarragher, B J

Description

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
URI: http://hdl.handle.net/1885/27430
Source: International Journal of Robotics Research

Download

File Description SizeFormat Image
01_Austin_Force_Control_Command_2001.pdf343.93 kBAdobe PDF    Request a copy
02_Austin_Force_Control_Command_2001.pdf347.69 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator