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

First, this paper tries to make a model of assembly skills based on a Mixed Logical Dynamical System (MLDS) framework, which includes both physical (continuous) dynamics and logical switching. In the 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 skills leads to a Mixed Integer NonLinear Programming (MINLP) problem. It is well known that finding a solution for MINLP is much harder than that for MIQP. Therefore, this paper presents some ideas to find the optimal solution for assembly skills with less computational effort. Finally, some simulation results on a peg-insertion task are shown to verify the usefulness of our ideas.