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4

ICRA
1998
IEEE

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Hybrid Control as a Method for Robot Motion Programming

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Hybrid Control as a Method for Robot Motion Programming

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This paper presents a class of fundamental control policies suitable for use in a novel method for designing and specifying the dynamic motion of robotic systems. Through recourse to formal stability mechanisms a hybrid control strategy one that relies on switching of underlying continious policies with desirable performance characteristics is demonstrated to be both stable and expressive for programming such motions. The long term intent is to utilize slightly more general control methods of this form to drastically simplify the process of integrating and programming modular automated assembly systems.

Alfred A. Rizzi

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Desirable Performance Characteristics | Fundamental Control Policies | Hybrid Control Strategy | ICRA 1998 | Robotics |

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Added	04 Aug 2010
Updated	04 Aug 2010
Type	Conference
Year	1998
Where	ICRA
Authors	Alfred A. Rizzi

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