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

In this paper, task understanding and control strategies for beam-in-hole as a simple example of assembly of flexible parts are discussed. Beam-in-hole means insertion of a flexible beam into a hole. We assume the initial condition that only the tip of the flexible beam is in contact with the side of the hole. In the beam-in-hole task, the beam is regarded is a constrained flexible beam with an axial force. A distributed parameter model is derived for analysis of the beam-in-hole task. A condition for achieving the insertion is derived. A set of simulation has been carried out for ensuring the task understanding for the beam-in-hole