摘要
插孔作业是一种典型的机器人操作．在工业化机器人装配中存在大量插孔类的作业．由于位置误差的存在，小间隙比插孔作业的成功率并不高．本文从分析插孔失败的原因入手，提出了一种成功率很高的基于力／位混合控制的插孔策略．实验验证了策略的有效性．
Insertion is a typical robot manipulation. There exist lots of such kind of work in industrial robot assembly. However, the ratio of successful insertion with small clearance ratio is not high due to the existence of position error. This paper first analyses the reason of failure insertion, and proposes an insertion strategy with high success ratio depending on force/position hybrid control. Experiments prove the validity of the strategy.
出处
《机器人》
EI
CSCD
北大核心
2002年第1期44-48,共5页
Robot
