机器人自动轴孔装配研究进展

Research development on automated robotic peg-in-hole assembly

轴孔装配是加工制造业常见的一类操作任务。基于工业机器人研究轴孔自动装配,对于机器人在装配领域的应用具有重要价值。对于高精密和形状复杂的零件,高效可靠的轴孔装配仍然具有很大挑战性。基于此,从控制的角度对机器人自动轴孔装配进行了全面梳理。首先,介绍了机器人自动轴孔装配过程。然后,在对基于传统模型的装配控制进行论述的基础上,对新兴的基于学习的智能装配控制进行了讨论,重点阐述了模仿学习和强化学习在机器人自动装配中的应用。传统方法与人工智能方法的结合,将为机器人自动轴孔装配注入新的活力,将成为未来的重要发展趋势。

Peg-in-hole assembly is a typical operation task in manufactory.The research of peg-in-hole assembly based on industrial robots is valuable for the application of robots in the automated assembly area.For the peg-in-hole components with high precision or complex shapes,the efficient and reliable assembly is still very challenging.The development of automated robotic peg-in-hole assembly of peg-in-hole was reviewed from the view of control.First,the process of robotic peg-in-hole assembly was introduced.Secondly,the assembly control methods based on the traditional models were described.The newly emerged intelligent assembly methods based on learning mechanism were discussed,especially the applications of imitation learning and reinforcement learning in the automated robotic assembly.The combination of the traditional methods and the artificial intelligent methods will provide new energy for the automated robotic assembly,which will be one of the important developing tendencies in future.