| 基于力控制的机器人装配作业实验研究 |
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| 引用本文： | 袁军.基于力控制的机器人装配作业实验研究[J].航天控制,1995(4). |
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| 作者姓名： | 袁军 |
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| 作者单位： | 北京控制工程研究所 |
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| 基金项目： | 中国航天工业总公司博士后科学基金 |
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| 摘 要： | 本文给出了工业机器人完成装配作业的一种实现方案──主动柔顺手腕。从技术的角度解决了主动柔顺手腕在装配过程中的搜孔策略、控制方法、柔顺中心设置、卡阻的避免等问题，最后在Ｍｏｖｅｍａｓｔｅｒ—ＥＸ机器人和ＰＵＭＡ５６２工业机器人上进行了无倒角高精度轴孔配合的实验。
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| 关 键 词： | 机器人，装配，力控制，RCC |
Robotic Assembly Experiment Using Force Feedback Control |
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| Yuan Jun.Robotic Assembly Experiment Using Force Feedback Control[J].Aerospace Control,1995(4). |
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| Authors: | Yuan Jun |
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| Institution: | Beijing Institute of Control Engineering 100080 |
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| Abstract: | This paper gives out an impemented scheme for assembly robots. From the technique viewpoint, the paper solves the error compensation of active RCC between the basic part and assembled parl, general selection rule of force controller gains for assembly robots, installation of compliance center, avoiding jamming during assembly prccest Finally, by using robot Movemaster-EX and PUMA562, high accurate Peg-in-Hole assembly task is realized successfully and smoothly. |
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| Keywords: | Robot Assembly Force control Remote Center Compliance (RCC) |
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