Abstract

Abstract A new, robust 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 effective strategy to incorporate both the continuous and discrete natures of the interaction between the workpiece and its environment. Prior works have presented controller synthesis methodologies for velocity- and force-controlled systems and here we present synthesis techniques to develop controllers which are robust to modelling and measurement errors. A number of examples are given which demonstrate the effectiveness of this method

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