The invention discloses a
robot shaft hole
assembly system and method based on teaching learning. The
system comprises a mechanical arm, a six-dimensional force /
torque sensor, a passive flexible RCC device and a PC upper computer, wherein the mechanical arm is a multi-axis mechanical arm, the six-dimensional force /
torque sensor is arranged at the
tail end of the mechanical arm, the passive flexible RCC device is arranged on the six-dimensional force /
torque sensor, the passive flexible RCC device is provided with a clamping tool used for clamping a to-be-assembled component, and the PC upper computer can achieve real-time communication with the mechanical arm and six-dimensional force / torque sensor. Firstly, a manual teaching recorder completes the
assembly of task data, an
assembly skill model is trained by adopting a learning
algorithm, then under a control command of the PC upper computer, the mechanical arm carries a pin component to perform shaft hole assembly, and a control systemestablished by the PC upper computer is based on an ROS platform. The
robot shaft hole assembly
system and method based on teaching learning have the advantages that a flexible behavior of a person when an assembly task is completed is imitated by combining teaching learning, so that the automatic flexible assembly operation of a
robot is achieved, and the operation requirements can be met well.