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Alternative TitleIndustrial robot high precision peg-in-hole assembly based on hybrid force/position control
吴炳龙; 曲道奎; 徐方
Source Publication浙江大学学报(工学版)
Indexed ByEI ; CSCD
EI Accession number20181805125878
Contribution Rank1
Funding Organization辽宁省科技创新重大专项资助项目(113003)
Keyword力/位混合控制 力控制 机器人装配 精密装配 机器人


Other Abstract

A peg-in-hole assembly strategy and a new implementation of hybrid force/position control strategy were proposed, n order to analyze the application of industrial robot in high precision assembly field and solve the typical peg-in-hole problem in high precision assembly. The assembly process included three stages: search, insert and complete. The proposed hybrid force/position control system was based on the motors velocity control loop, and had a larger system bandwidth compared to the traditional force control system based on position control loop. The control structure was simple and easy to implement, and could integrate the velocity signal, and transform into implementation based on the motors position control loop. The simulation and experiment were conducted to verify the effectiveness of the method. The simulation results show that the force/position hybrid control method based on the velocity control loop has better performance to track higher frequency sinusoidal signal than traditional method which is based on the position control loop. The industrial robot was used to assembly the reducer of robot arm. Experimental results show that the force/position hybrid control method with spiral search hole strategy can find the assembly hole and finish the peg-in-hole assembly task well

Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author徐方
Recommended Citation
GB/T 7714
吴炳龙,曲道奎,徐方. 基于力/位混合控制的工业机器人精密轴孔装配[J]. 浙江大学学报(工学版),2018,52(2):379-386.
APA 吴炳龙,曲道奎,&徐方.(2018).基于力/位混合控制的工业机器人精密轴孔装配.浙江大学学报(工学版),52(2),379-386.
MLA 吴炳龙,et al."基于力/位混合控制的工业机器人精密轴孔装配".浙江大学学报(工学版) 52.2(2018):379-386.
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