环境理解机器人接触约束装配策略研究

Strategy Study of the Robot Contact Elastic Deformation Assembly Based on Environmental Understanding

以T型轴与C型孔的装配操作为例,提出了一种粗、精结合的运动规划策略.根据几何环境推理,推导出装配过程的接触约束方程,由接触约束方程的组合及变化建立装配件之间的位姿关系进行粗运动规划分析.利用中轴图方法进行路径规划减少了装配过程中出现的位姿状态,建立了一条优化的粗规划路径.基于对装配环境的理解,进行了基于力控制的精运动规划分析.

A coarse combining with fine motion planning strategy is provided based on the example of a T - shaped peg into C - shaped hole. Based on the geometric environment ratiocination, the con- tact constraint equations of the assembly process can be drawn. The relations of pose states between the two assembly parts can be established by com- bination and changes of the equations, then the coarse motion planning can be analyzed. The pose states during the assembly process can be reduced by the medial axis method, by which the optimal coarse planning path can be drawn. Based on coarse planning and the understanding of the constraint environment, the force sensing and force control are executed for the fine motion planning within the permission of the elastic deformation.