摘要
介绍了一个自动装配机系统,该系统使用了一个AHC(AutomaticHandChanger)装置,实现了一个机器人可完成多项不同的工作。在该系统中成功地将柔顺(Compliance)控制应用到机器人控制系统中去,从而实现了柔软导线准确地装配。
An automatic assembly system is introduced,The system uses an AHC(AutomaticHand Changer)device to bring about different processes done by one robot.Compliance control issuccessfully used in robot control system.Therefore a soft lead is correctly assembled in this sys-tem.