PiHStrategy.hpp File Reference

Control strategy for a Peg in Hole operation. More...

#include <rw/core/Ptr.hpp>
#include <rw/trajectory/Trajectory.hpp>
#include <rwlibs/assembly/AssemblyControlStrategy.hpp>

Classes
class	PiHStrategy
	Control strategy for a Peg in Hole operation. More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::core
	Most basic types for RobWork.
	rwlibs
	Extension libraries for RobWork.
	rwlibs::assembly
	Assembly strategies and task & result formats for assembly operations.

Detailed Description

Control strategy for a Peg in Hole operation.

The insertion strategy with parameters shown. Left

image shows the initial approach pose, second image shows the linear approach motion, third image shows the angular motion, and the right image shows the final linear insertion."

See the PiHParameterization for more information about the parameters.

The strategy is described in [1].

[1]: Lars Carøe Sørensen, Jacob Pørksen Buch, Henrik Gordon Petersen and Dirk Kraft, Online Action Learning using Kernel Density Estimation for Quick Discovery of Good Parameters for Peg-in-Hole Insertion, In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Volume 2, pages 166-177