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This paper studies on the learning control problem of assembly/disassembly task sequence. The proposed learning control system has two sub systems. One of them is a supervisory control system which can realize the implicit specifications such as equipment-related or task-independent specifications. The other one is a learning automata system which can realize the explicit specifications such as task-dependent specifications. This approach allows the flexible design to accommodate frequently changing manufacturing requirements. Some simulation results to verify the effectiveness of the proposed system are shown.

Space robot. Learning Control of Assembly/Disassembly Task Sequence. An Approach with Discrete Event System Theory.