Abstract
This paper presents a method for scheduling carrying tasks of a robotic arm using a contact transition graph. This method generates a task sequence to achieve the objective work-environmental state focused on the contact state of an environment. Objects in contact state are moved together as an object is carried. A task sequence of a robotic arm is determined by solving a shortest path problem of the state transition system of the contact states of work environment. The motion trajectory of a robotic arm is generated by planning a trajectory based on the task sequence.
