机器人装配作业的主被动复合柔顺

DActive Passive Compound Compliance in the Robotic Assembly Process

提出一种称为“一维搜索”的机器人装配作业的主被动复合柔顺新策略，其核心内容是将主动搜索自由度降低到一维，同时最大限度地利用被动柔顺来简化手腕结构，降低控制系统的计算和搜索时间。根据这种策略，研制了一维搜索手腕并建立了实验系统，验证了一维搜索策略的可行性。

A new strategy named ODS(one dimension search) for active passive compound compliance is presented in this paper.The core of this strategy is that the degrees of freedom of active search are reduced to one dimension,meanwhile the passive compliance is employed as much as possible to simplify the wrist,and to shorten the calculation time of the control system and the search time.Using the strategy,an ODS wrist and experiment system are developed and the reasibility of the ODS strategy is verified.