Discrete Event Controller Synthesis of ManipulationHybrid Dynamic
نویسندگان
چکیده
This paper presents a method for discrete event controller (DEC) synthesis for a manipulation task modeled as a hybrid dynamic system (HDS). The modelling of a manipulation task as a HDS has been shown to be a very eeective strategy to incorporate the interaction of the robot manipulator with its environment. In addition, this modelling has allowed the derivation of realistic conditions on the DEC for the convergence to the task goal known as p-convergence. Furthermore, a DEC synthesis problem can be set as an optimal control problem minimizing the number of events for p-convergence. In this paper, a method for the DEC synthesis is derived as an approximation to the solution of this problem by using dynamic programming. The applicability of this approach is then demonstrated for a dual peg insertion task.
منابع مشابه
Discrete Event Controller Synthesis forthe Convergence of an Assembly
A discrete event controller (DEC) synthesis methodology for the successful convergence of assembly is presented. The modelling of an assembly process as a hybrid dynamic system (HDS) has been shown to be a very eeective strategy to incorporate the interaction between the workpiece and its environment. In addition, this modelling has allowed the derivation of realistic conditions on the DEC for ...
متن کاملControl of (max, +)-linear systems minimizing delays
In this paper, we develop a new control technique for discrete event dynamic systems subject to synchronization phenomena. We propose a feedback controller for (max,+)-linear systems which delays input events as little as possible while constraints on internal or output events are satisfied. The synthesis is mainly based on new results about fixed points of antitone (i.e., order reversing) mapp...
متن کاملDynamic Hierarchical Reactive Controller Synthesis
In the formal approach to reactive controller synthesis, a symbolic controller for a possibly hybrid system is obtained by algorithmically computing a winning strategy in a two-player game graph. Such game-solving algorithms scale poorly as the size of the game graph increases. However, in many applications, the game graph has a natural hierarchical structure which has, so far, not been exploit...
متن کاملOn the Design of Nonlinear Discrete-Time Adaptive Controller for damaged Airplane
airplane in presence of asymmetric left-wing damaged. Variations of the aerodynamic parameters, mass and moments of inertia, and the center of gravity due to damage are all considered in the nonlinear mathematical modeling. The proposed discrete-time nonlinear MRAC algorithm applies the recursive least square (RLS) algorithm as a parameter estimator as well as the error between the real ...
متن کاملForce control command synthesis for assembly using a discrete event framework
A new 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 eeective strategy to incorporate both the continuous and discrete natures of the interaction between the workpiece and its environment. Prior works have presented controller synthesis meth...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1995