抄録
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 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.
