机器人装配操作的规划与控制

PLANNING AND CONTROL OF ROBOTIC ASSEMBLY MANIPULATION

机器人装配操作是机器人研究与应用的一个重要领域 .与机器人焊接、喷涂等作业不同 ,机器人的装配操作是一种约束运动类操作 ,因此在规划和控制时必须考虑接触约束和各种不确定性因素的影响 .本文对机器人装配操作的规划和控制策略进行了详细的综述 ,并对一些典型的装配操作任务进行了分析 .

Robotic assembly manipulation (RAM) is an important topic in the field of robotics. Being different from such tasks as welding and painting, RAM is a kind of constrained motion manipulation, which should be planned and controlled under the consideration of contact constraints and various uncertainties. In this paper, the planning and control strategies for RAM are surveyed in detail and some typical cases of RAM are studied. In the end, several important issues to understand the mechanics of RAM are proposed for further study in the future.