COMPLIANCE SYNTHESIS AND VERIFICATION FOR FORCE  CONTROLLED ROBOTIC ASSEMBLY

ZHANG Wei-ping; XIONG You-lun; YIN Chao-wan; WANG Yue-chao

Volume 21 Issue 5

Sep. 1999

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ROBOT > 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.

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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.

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COMPLIANCE SYNTHESIS AND VERIFICATION FOR FORCE CONTROLLED ROBOTIC ASSEMBLY

1.
School of Mechanical Science and Engineering, Huazhong University of Science and Technology
2.
Shenyang Institute of Automation, the Chinese Academy of Sciences

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Received Date: October 25, 1998
Published Date: September 14, 1999

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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.
- Robotic assembly,
- compliance synthesis,
- force control,
- contact state transition

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1 熊有伦.机器人约束运动规划的空间推理.第一届全球华人智能控制与智能自动化大会论文集(中卷),1993:1222-1228
2 Lozano-Perez T,Mason M,Taylor R.Automatic Synthes is of Fine Motion Planning Strategies for Robots.Int J of Robotics Res,1985,4:3-24
3 Donald B R.Plan ning Multi-step Error Detection and Recovery Strategies.Int J of Robotics Res,1990,9:3-60
4 Erdmann M.Using Back projections for Fine Motion Planning with Uncertainty.Int J of Robotics Res,1986,5:19-45
5 Gotts chlich S,Kak A.A MP-CA D:Automatic Assembly Motion Planning Using CA D Models of Parts.Robotics and Autonomous Systesm,1994:245-289
6 Laugier C.Planning Fine Motion Strategies by Reasoning in the Contact Space.Proc of IEEE Int Conf on Robotics and Automation,1989:653-659
7 Peshkin M A.Programmed Compliance for Error Corrective Assembly.IEEE Transactions on Robotics and Automation,1990,6(4):473-482
8 McCarragherB J.Task Primitives for the Discrete Event Modeling and Control of 6-dof Assembly Tasks.IEEE Trans actions on Robotics and Automation,1996,12:280-289

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