摘要
本文根据ＡＲＣＣ的工作原理，对机器人的无倒角插轴入孔装配作业进行了实验研究，介绍了实验系统的组成，ＡＲＣＣ系统闭环刚度和去耦力反馈矩阵的设置．给出了在Ｍｏｖｅｍａｓｔｅｒ－ＥＸ和ＰＵＭＡ５６２机器人上进行自动寻孔和插轴入孔的实验结果．实验结果表明，采用ＡＲＣＣ控制的机器人轴孔装配作业具有简单、可靠和易于实现的优点。
This paper presents the experiment research for unchamfered peg in hole assembly task based on the principle of ARCC, introduces the structure of the experiment system, the close loop stiffness of the ARCC system and the element setting of the decoupling force feedback matrix. The automatic searching hole and the peg into hole experiment results in Movemaster EX and PUMA 562 robots are also given in this paper. The experiment results show that the ARCC control scheme of peg in hole assembly task has the feature of simplicity, reliability and easy practice, as well as a nice application future.
出处
《机器人》
EI
CSCD
北大核心
1996年第6期321-327,共7页
Robot
关键词
机器人
装配作业
寻孔
插轴入孔
Robot, assembly task, searching hole, peg in hole
