使用混合cc模拟多层钉入孔问题

Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470) Pub Date : 1999-07-21 DOI:10.1109/ISATP.1999.782976

Qingchuan Fu, M. Branicky

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引用次数: 2

摘要

许多机器人装配任务可以看作是多层钉孔或“钉迷宫”问题。这些任务是混合系统控制问题，因为它们结合了连续运动和事件检测。本文介绍了Hybrid cc作为一种模拟混合系统的软件工具，并用它来模拟二维多层钉孔问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Using hybrid cc to simulate multi-tier peg-in-hole problems

Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or "peg-in-maze" problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems.

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Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

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