Optimal motion planning for peg-insertion task based on Mixed Logical Dynamical System framework

被引：0

作者：

Hirana, K ^{[1
]}

Suzuki, T ^{[1
]}

Okuma, S ^{[1
]}

机构：

[1] Nagoya Univ, Dept Elect Engn, Nagoya, Aichi 464, Japan

来源：

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年

关键词：

MLDS; MINLP; branch-and-bound method;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper, firstly, tries to make a model of the assembly skill based on a Mixed Logical Dynamical System (MLDS) framework, which includes both physical (continuous) dynamics and logical switching. In case of assembly skill, the resulting MLDS includes nonlinear constraints unlike the standard MLDS. This implies that the MLDS based optimal control problem for assembly skill leads to Mixed Integer NonLinear Programming (MINLP). It is also well-known that finding the solution for MINLP is much harder than that for MIQP. Therefore, secondly, this paper presents some ideas to find the optimal solution for assembly skill with less computational amount. Finally, some simulation results on peg-insertion task are shown to verify the usefulness of our idea.

引用

页码：1165 / 1170

页数：6

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