A NEW STRATEGY OF THE ENVIRONMENT-BASED ROBOT ASSEMBLY
A motion planning strategy is provided based on the example of a dissymmetrical T-shaped part into a Cshaped slot. Based on the geometric environment ratiocination, the contact constraint equations of the assembly process can be drawn. The relations of pose states between the two assembly parts can be established by combination and changes of the equations, then the coarse motion planning can be analyzed. However, for complex assembly parts, it is difficult for the method to be realized. The pose states during the assembly process can be reduced by the medial axis method, by which the optimal coarse planning path can be drawn. Due to the uncertainties in the assembly process, based on coarse planning and the understanding of the constraint environment, the force sensing and force control are executed for the fine motion planning within the permission of the elastic deformation. Combining the coarse motion planning strategy with fine motion planning strategy, the contact elastic deformation assembly task can be completed high efficiently, and it can be used for references to the study of the robot assembly.
Coarse and fine motion planning Environment understanding Force control Medial azis diagram Contact constrain
Xia Yanchun Bai Yuewei Cai Chilan He Yafei
School of Mechanical & Electronic Engineering, Shanghai Second Polytechnic University, No. 2360 Jinhai Road Pudong New Area Shanghai, Shanghai, China
国际会议
上海
英文
1-5
2009-08-02（万方平台首次上网日期，不代表论文的发表时间）