Realization of Assembly Skill Controller Based on Time/Event Driven Hybrid System

A novel assembly skill controller based on a framework of a hybrid system is proposed in this paper. In the proposed control architecture, a concept of a ‘Time/Event driven’ is introduced, which means that a state transition under a supervision of the hybrid system is caused by both a measured event and a time. Secondly, a bridge between this framework and the conventional impedance controller is established. The resulting controller switches the impedance parameters according to a state transition of a task. By introducing the concept of ‘Time/Event driven’, high performance is attained in a sense that the replayed task agrees well with the one demonstrated by a human worker. Also, some properties about robustness against the deviation of the geometric parameter of the environment and/or an unexpected disturbance forces can be found. Effectiveness of the proposed method is verified through realistic experiments.