Robot Assembly Technology Based on Compliance Control

doi:10.13190/j.jbupt.2019-227

Journal of Beijing University of Posts and Telecommunications ›› 2020, Vol. 43 ›› Issue (4): 1-6.doi: 10.13190/j.jbupt.2019-227

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Robot Assembly Technology Based on Compliance Control

YU Yang¹, WANG Yao-bing², WEI Shi-min¹, MA Ru-qi², TANG Ling¹

1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China;
2. Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China

Received:2019-10-23 Published:2020-08-15

Abstract

Abstract: Aiming at the problem that the difficulty of compliant assembly of robot in complex contact environments,a compliant assembly method based on accurate acquisition of force information and improved hybrid force/position control algorithm is presented.In the method,after bias and load gravity compensation are performed on the robot end force sensor,the real contact force of the robot end-effector at the assembly contact point is calculated in real time by matrix transformation,and the motion of the robot follows velocity-force relationship of the hyperbolic tangent during force control.Experiments show that the robot did not shake significantly during the assembly process,and the proposed algorithm has a good compliant assembly effect.

Key words: robot, compliant assembly, contact force, improved hybrid force/position control algorithm

CLC Number:

TP242.2

YU Yang, WANG Yao-bing, WEI Shi-min, MA Ru-qi, TANG Ling. Robot Assembly Technology Based on Compliance Control[J]. Journal of Beijing University of Posts and Telecommunications, 2020, 43(4): 1-6.

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Robot Assembly Technology Based on Compliance Control

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