基于宏微操作技术的装配机器人及其控制系统

Assembly Robot and Its Control System Based on Macro/Micro Operation

对装配机器人力控制系统进行了动力学分析，并论述了针对任意凸形销孔零件所开发的机器人装配宏微操作系统、装配机器人力传感器数据采集处理系统、微操作器驱动控制系统及针对该装配系统所开发的控制系统。该系统已成功地应用于任意凸形销孔零件的装配作业中。

In this paper, the dynamics on force control system of assembly robot are analysed, then macro/micro operation system of assembly for arbitrary convex peg-hole parts,data processing system of force sensor, control system of micro manipulator are discussed. According to control strategies of overall system, its control system is developed. The system has been used for assembly operation on peg-hole parts.