Formulation and motion planning of the peg-in-hole task with mixed logical dynamical system theory

Authors: Hirana K.; Suzuki T.; Okuma S.

Source: Advanced Robotics, Volume 18, Number 3, 2004 , pp. 315-330(16)

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Abstract:

It is well known that most assembly skills can be regarded as one of the signal-symbol hybrid dynamical systems, since the interactive dynamics between the end-effector and the environment change according to contact configurations (geometrical constraints). In this paper, we first propose a model of the peg-in-hole task, which is known as a typical assembly task. Mixed logical dynamical system theory is adopted to formulate the peg-in-hole task, and an optimal solution with both continuous and logical variables under an objective function is found systematically. Then, a strategy to find the optimal solution with less computation is proposed. Finally, some planning results for the peg-in-hole task are shown in order to verify the usefulness of the proposed method.

Keywords: PEG-IN-HOLE TASK; MIXED LOGICAL DYNAMICAL SYSTEM; MIXED INTEGER NON-LINEAR PROGRAMMING; BRANCH-AND-BOUND METHOD; OPTIMAL MOTION PLANNING

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855304322972468

Publication date: 2004-04-01