Based On Force Control Of Robot Axis Hole Assembly Operations Experimental Study

Active compliance control of robot is becoming a key technology in the field of intelligent manufacturing,peg-in-hole assembly of robot is also being used widely in the corporations' production.In order to facilitate the research about active compliance control strategy and the experiment of peg-in-hole assembly,accelerate the application of robot's intelligent control.The dissertation established an open research platform of compliance control for the kind of MOTOMAN--UP6 robot of six vertical joint.Here, peg-in-hole assembly was studied.Firstly programms the robot with its own teaching system.Initially positions the hole location.Secondly,when the shaft comes up against the chamfer around the hole,has the feedback information from the six-dimensional wrist force sensor analysed by the vb procedure.The procedure judges the hole's compliance center and calculates the numbers of the motor pulse of next action with Anti-kinematics of the equation.finally,adjusts the robot's location and pose,achieves peging in hole without contacting the hole's wall.Impedance Control,the one of Compliance Control strategies about peg-in-hole assembly,was validated.The dissertation analysed the hole in the process of peg-in-hole assembly,caculated the equation of Antiokinematics.designed the assembly plan and programmed the vb procedure,The experiment connected the Robot's Control,the force sensor and the computer,made the experiment in case of a hole with chamfer.Achieved a success in the extension of x-axis±10 degrees and 170-190 degrees of the hole's horizontal. achieved optimistic results finally,supplyed experimental data and research platform for other assembly condition in the future.