Task understanding for the beam-in-hole task with initial one-point contact

摘要

This paper discusses task understanding and control strategy for the Beam-in-Hole task as a simpleexample of the assembly of flexible parts. The Beam-in-Hole task means insertion of a flexible beaminto a hole. We assume that the wall around the hole is rigid. Initially, we assume that only the tip ofthe flexible beam contacts the side of the hole. In the Beam-in-Hole task, the beam is regarded as aconstrained flexible beam with axial force. A distributed parameter model is derived to analyze theBeam-in-Hole task, and a condition for achieving insertion found. Simulation was done to ensure taskunderstanding.