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.
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