机器人插入装配的一种主动柔顺策略研究——模式识别法

An Active Compliance Strategy for Robotic insertion Assembly-Pattern Recogntion Method

应用模式识别原理，对在轴孔插入装配过程中由力传感器测得的力信息进行学习和识别，建立了力信息与轴位置状态间相互关系模型。在机器人插孔搜索时采用力一位置控制的主动柔顺装配方法，实现了可编程的机器人轴孔装配作业。

attern recognition principle is used to learn and recognize the force information given by force sensorin process of insertion. When the relation among Peg' S position and force information is established,programed Peg in hole insert task is completed by use of active compliance method based on hybrid forceposition control.