Hybrid systems approach to force-guided robotic assemblies

Proceedings of the IEEE International Symposium on Assembly and Task Planning

Volumn , Issue , 1999, Pages 301-306

  Chhatpar, Siddharth R ^a   Branicky, Michael S ^a  

^a CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

HYBRID SYSTEMS;

AUTOMOTIVE INDUSTRY; FACTORY AUTOMATION; INDUSTRIAL ROBOTS; VEHICLE TRANSMISSIONS;

ROBOTIC ASSEMBLY;

EID: 0033358948     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Article

References (12)

1. D.E. Whitney, Force feedback control of manipulator fine motions, ASME J. Dynamic Systems, Measurement, and Control, pp. 91-97, June 1977.
2. D.E. Whitney, Quasi-static assembly of compliantly supported rigid parts, ASME J. Dynamic Systems, Measurement and Control, 1982.
3. M.A. Peshkin, Programmed compliance for error corrective assembly, IEEE Trans. Robotics and Automation, 6(4):473-482, August 1990.
4. B.J. McCarragher and H. Asada, The discrete event modeling and trajectory planning of robotic assembly tasks, ASME J. Dynamic Systems, Measurement and Control, 117(3):394-400, Sept. 1995.
5. D. Austin and B.J. McCarragher, Force control command synthesis for assembly using a discrete event framework, Proc. IEEE Intl. Conf. Robotics and Automation, Albuquerque, NM, April, 1997.
6. P.J.G. Ramadge and W.M. Wonham, The control of discrete event systems, Proc. of the IEEE, 77(l):81-98, Jan. 1989.
7. M.S. Branicky, Studies in Hybrid Systems: Modeling, Analysis, and Control, Ph.D. Thesis, Electrical Eng. and Computer Science Dept., M.I.T., June 1995.
8. D. Harel, Statecharts: A visual formalism for complex systems, Science of Comp. Programming, 8:231-274, 1987.
9. J.K. Salisbury, Active stiffness control of a manipulator in a cartesian coordinates, Proc. IEEE Conf on Decision and Control, pp. 95-100, 1980.
10. W.S. Newman et al., Force-responsive robotic assembly of transmission components, Proc. IEEE Intl. Conf. Robotics and Automation, Detroit, May, 1999.
11. W.S. Newman, M.S. Branicky, S. Chhatpar, L. Huang, and H. Zhang, Impedance based assembly, Video Proc. IEEE Intl. Conf. Robotics and Automation, Detroit, May, 1999.
12. S. R. Chhatpar, Experiments in Force-guided Robotic Assembly, M.S. Thesis, Electrical Engineering and Applied Physics Dept., Case Western Reserve University, Jan. 1999.