Task Understanding for the Beam-in-Hole Task with Initial One-Point Contact
Fumitoshi Matsuno and Motohiro Kisoi
Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Nagatsuta, Midori-ku, Yokohama, 226-8502 Japan
This paper discusses task understanding and control strategy for the Beam-in-Hole task as a simple example of the assembly of flexible parts. The Beam-in-Hole task means insertion of a flexible beam into a hole. We assume that the wall around the hole is rigid. Initially, we assume that only the tip of the flexible beam contacts the side of the hole. In the Beam-in-Hole task, the beam is regarded as a constrained flexible beam with axial force. A distributed parameter model is derived to analyze the Beam-in-Hole task, and a condition for achieving insertion found. Simulation was done to ensure task understanding.