张卫平, 熊有伦, 尹朝万, 王越超. 机器人力装配操作的顺应综合与实验验证[J]. 机器人, 1999, 21(5): 335-339,356.
引用本文: 张卫平, 熊有伦, 尹朝万, 王越超. 机器人力装配操作的顺应综合与实验验证[J]. 机器人, 1999, 21(5): 335-339,356.
ZHANG Wei-ping, XIONG You-lun, YIN Chao-wan, WANG Yue-chao. COMPLIANCE SYNTHESIS AND VERIFICATION FOR FORCE CONTROLLED ROBOTIC ASSEMBLY[J]. ROBOT, 1999, 21(5): 335-339,356.
Citation: ZHANG Wei-ping, XIONG You-lun, YIN Chao-wan, WANG Yue-chao. COMPLIANCE SYNTHESIS AND VERIFICATION FOR FORCE CONTROLLED ROBOTIC ASSEMBLY[J]. ROBOT, 1999, 21(5): 335-339,356.

机器人力装配操作的顺应综合与实验验证

COMPLIANCE SYNTHESIS AND VERIFICATION FOR FORCE CONTROLLED ROBOTIC ASSEMBLY

  • 摘要: 本文提出并实现了一种机器人装配顺应综合方法.装配操作过程可以表示为一列离散的几何接触状态的改变和转移.通过对不确定性下所有机器人形位进行仿真,得到每一接触形式对应的静态接触力特征.由对基本接触元的分析,求解实现接触状态转移的机器人运动方向,构成顺应的力-错误修复运动方向映射,为规划的装配运动实现提供顺应.并在PUMA562机器人上完成了一类简单装配实验对本文的方法进行了验证.

     

    Abstract: A methodology is proposed and implemented for compliance synthesis in robotic assembly manipulation. The process of assembly operation can be represented as a sequence of discrete contact states and transitions between them. The possible erroneous configurations of the robot are simulated and the corresponded force/torque characteristic can be obtained. The motion direction that can guide contacting part from the erroneous contact state to the desired or correct one is solved through analyzing primitive contact states'maintaining, gaining or losing, and is mapped to the corresponded force information. This association of force information with corrective motion information provides the compliance needed in robotic assembly. An experimental setup is established and experimental results of a simple assembly task are presented to testify the validity of the proposed methods.

     

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