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A Computational Framework for the Verification and Synthesis of Force-Guided Robotic Assembly Strategies

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Hybrid Systems: Computation and Control (HSCC 2002)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2289))

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Abstract

Robotic assemblies are inherently hybrid systems. This paper pursues a class of multi-tiered peg-in-hole assemblies that we call pegin- maze assemblies. These assemblies require a force-responsive, low-level controller governing physical contacts plus a decision-making, strategiclevel supervisor monitoring the overall progress. To capture this dichotomy we formulate hybrid automata, where each state represents a different force-controlled behavior and transitions between states encode the high-level strategy of the assembly. Each of these behaviors is set in 6-dimensional space, and each dimension is parameterized by spring and damper values (an impedance controller). Our over-arching goal is to produce a computational framework for the verification and synthesis of such force-guided robotic assembly strategies. We investigate the use of two general hybrid systems software tools (HyTech and CEtool) for the verification of these strategies. We describe a computational environment developed at Case to help automate their synthesis. The implementation of these strategies on actual robotic assemblies is also described.

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Author information

Authors and Affiliations

  1. Electrical Eng. and Computer Science, Case Western Reserve University, Glennan 515B, 10900 Euclid Ave, 44106-7071, Cleveland, OH, USA

    Michael S. Branicky

  2. Mechanical and Aerospace Engineering, Case Western Reserve University, Glennan 109, 10900 Euclid Ave, 44106, Cleveland, OH, USA

    Siddharth R. Chhatpar

Authors
  1. Michael S. Branicky
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  2. Siddharth R. Chhatpar
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Editor information

Editors and Affiliations

  1. Department of Aeronautics and Astronautics, Stanford University, 250 Durand Building MC4035, 94305-4035, Stanford, CA, USA

    Claire J. Tomlin

  2. Department of Computer Science, University of British Columbia, 201-2366 Main Mall, V6T1Z4, Vancouver BC, Canada

    Mark R. Greenstreet

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© 2002 Springer-Verlag Berlin Heidelberg

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Branicky, M.S., Chhatpar, S.R. (2002). A Computational Framework for the Verification and Synthesis of Force-Guided Robotic Assembly Strategies. In: Tomlin, C.J., Greenstreet, M.R. (eds) Hybrid Systems: Computation and Control. HSCC 2002. Lecture Notes in Computer Science, vol 2289. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45873-5_12

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  • DOI: https://doi.org/10.1007/3-540-45873-5_12

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43321-7

  • Online ISBN: 978-3-540-45873-9

  • eBook Packages: Springer Book Archive

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