机器人轴孔装配视觉伺服技术

Research on Visual Servo Technology in Robot Peg-in-Hole Assembly Process

目的研究轴孔装配在机器人生产过程中的关键技术,研究利用视觉伺服系统调整卡阻位置误差的方法,提高装配的精度.方法对机器人轴孔装配作业进行分析,并采用基于力/位置的控制方法.结果建立了工件重心位置与轴孔轴线的误差模型,从而推导出了机器人轴孔装配卡阻运动规律.结论视觉伺服技术和力/位置相结合控制方法,可以有效地提高机器人轴孔装配的精度和速度,从而提高轴孔装配的质量.

In order to enhance assembling precision, it is necessary to research the key technology of the robot peg - in - hole assembly. Position difference models between the barycenter position of spare parts and the axis of holes were established by analyzing robot peg - in- hole assembly and utilizing force - position control method. Studies were conducted using visual servo to adjust position differences in jamming occurrences. The article deduced the control law of the robot peg - in - hole assembly jamming. Visual servo and force- position control method can be applied to the enhancement of the accuracy and speed of robot pegin - hole assembly, thus improving the quality of the assembly.