自动装配中一种考虑外部约束的避碰算法

The Collision Detecting Algorithm Based on Dynamic Constraints in Robotic Assembly Task Planning

针对柔性装配系统中由装配规划产生的装配任务序列,详细研究了装配机器人、末端夹持器、自动夹具等自动装配中不可避免的外部约束对装配任务的影响,提出了装配任务规划中动态约束的概念并研究了相应的碰撞检测算法。该研究为装配规划提供了相应的可评判标准,同时为面向机器人装配的产品设计提供了重要的设计依据。

It analyzes the influence of the robot, end tool and fastener on the assembly task planning, proposes a new concept of dynamic constraints. Furthermore, it researches the algorithm of collision detection. The simulation and experiments show that it can genetate the assembly plan better.