The discrete event control of robotic assembly tasks

摘要

The authors take a new approach to robotic assembly, treating assembly as a discrete event system. A discrete event in assembly is defined as a change in contact state reflecting a change in geometric constraint. Based on the discrete event model, a discrete event controller is presented. The problems of task-level planning and synthesis are addressed. Given a nominal event trajectory, discrete controls are defined. Given the discrete controls, continuous robot velocity commands are determined which follow the desired discrete event trajectory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>