Development and Implementation of Compliant Controller On Manus Robot Arm

This paper studies constitutive relations of physical processes with time-scale abstractions by giving a process algebraic foundation for hybrid bond graph models. For a number of standard physical elements, it is shown how discontinuous constitutive relations that describe the behavior of hybrid bond graph models can be derived from existing continuous constitutive relations. These discontinuous and continuous descriptions are then combined using the hybrid process algebra HyPA, which may be used to reason symbolically about both the continuous behavior, and the mode switching that results from the time-scale abstraction.