摘要
寻孔是插轴入孔装配作业必不可少的步骤,本文提出一种基于腕力传感器圆锥运动的寻孔方法,只需利用轴向力信息和对机器人进行直角坐标位置控制,即可在约一个孔径的初始偏差,无倒角情况下,进行轴孔准确定位.该方法简便易行,成功率高,在寻孔时间上也具有很大的优越性.
Hole searching is a necessary step to peg-in-hole assembly. This paper proposes a hole searching method based on the cone motion of wrist force sensor, which only uses the axis-directed force and controls the position in cartesian coordinates. Using this method, we can accurately mate the bolt and chamferless hole on condition that the original deviation is within the hole's diameter. This method is simple and practical, with high reliability and superiority on searching time.
出处
《机器人》
EI
CSCD
北大核心
1996年第1期11-15,共5页
Robot
基金
863高技术八五计划智能机器人主题资助
