机器人力装配操作的顺应综合与实验验证

本文提出并实现了一种机器人装配顺应综合方法。装配操作过程可以表示为一列离散的几何接触状态的改变和转移。通过对不确定性下所有机器人形位进行仿真，得到每一接触形式对应的静态接触力特征。由对基本接触元的分析，求解实现接触状态转换的机器人运动方向，构成顺应的力－错误修复运动方向映射，为规划泊装配运动实现顺应。并在ＰＵＭＡ５６２机器人完成了一类简单装配实验对本文方法进行了验证。

A methodology is proposed and implemented for compliance synthesis in robotic assembly manipulation. The process of assembly operation can be represented as a sequence of discrete contact states and transitions between them. The possible erroneous configurations of the robot are simulated and the corresponded force/torque characteristic can be obtained. The motion direction that can guide contacting part from the erroneous contact state to the desired or correct one is solved through analyzing primitive con...

中国科学院机器人学开放研究实验室开放基金,教委博士点基金,自然科学基金