黄心汉, 袁军, 王军, 王敏, 胡建元, 康新海. 基于ARCC的无倒角轴孔装配实验研究[J]. 机器人, 1996, 18(6): 321-327.
引用本文: 黄心汉, 袁军, 王军, 王敏, 胡建元, 康新海. 基于ARCC的无倒角轴孔装配实验研究[J]. 机器人, 1996, 18(6): 321-327.
HUANG Xinhan, YUAN Jun, WANG Jun, . THE EXPERIMENT RESEARCH FOR UNCHAMFERED PEG IN HOLE ASSEMBLY BASED ON ARCC[J]. ROBOT, 1996, 18(6): 321-327.
Citation: HUANG Xinhan, YUAN Jun, WANG Jun, . THE EXPERIMENT RESEARCH FOR UNCHAMFERED PEG IN HOLE ASSEMBLY BASED ON ARCC[J]. ROBOT, 1996, 18(6): 321-327.

基于ARCC的无倒角轴孔装配实验研究

THE EXPERIMENT RESEARCH FOR UNCHAMFERED PEG IN HOLE ASSEMBLY BASED ON ARCC

  • 摘要: 本文根据ARCC的工作原理,对机器人的无倒角插轴入孔装配作业进行了实验研究,介绍了实验系统的组成,ARCC系统闭环刚度和去耦力反馈矩阵的设置.给出了在Movemaster-EX和PUMA562机器人上进行自动寻孔和插轴入孔的实验结果.实验结果表明,采用ARCC控制的机器人轴孔装配作业具有简单、可靠和易于实现的优点,有良好的应用前景.

     

    Abstract: This paper presents the experiment research for unchamfered peg in hole assembly task based on the principle of ARCC, introduces the structure of the experiment system, the close loop stiffness of the ARCC system and the element setting of the decoupling force feedback matrix. The automatic searching hole and the peg into hole experiment results in Movemaster-EX and PUMA-562 robots are also given in this paper. The experiment results show that the ARCC control scheme of peg in hole assembly task has the feature of simplicity, reliability and easy practice, as well as a nice application future.

     

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