摘要
在柔顺控制的基础上 ,提出了轴孔装配作业中主动柔顺中心的概念 ;针对具体的装配状态进行几何和力学分析 ,并在此基础上 ,详细分析了轴孔装配作业中主动柔顺中心的设置策略及主动柔顺中心区域。研究结果为机器人装配操作主动柔顺控制奠定了一定的基础。
We proposed the definition of active compliance center for peg-in-hole assembly task on the basis of compliance. Also we introduced the mode and state of peg-in-hole assembly task. Based on the analysis of the assembly states and the geometric and mechanical analysis of peg-in-hole assembly process, the active compliance center setting methodology was analyzed in detail, simultaneously active compliance center zone was proposed and analyzed. These research results are the basis for active compliance control of robot assembly manipulations.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第11期1015-1017,1021,共4页
China Mechanical Engineering
基金
国家 8 63高技术研究发展计划资助项目( 2 0 0 1AA42 2 5 0 )
国家自然科学基金资助项目 ( 60 2 0 5 0 0 6)
关键词
柔顺性
主动柔顺中心
主动柔顺中心区域
轴孔装配
compliance
active compliance center
compliance center zone
peg-in-hole assembly
