Total-space smooth hole insertion control method applied to assembly robot and based on real-time force control

Abstract

The invention discloses a total-space smooth hole insertion control method applied to an assembly robot and based on real-time force control. The total-space smooth hole insertion control method applied to the assembly robot and based on real-time force control comprises the steps that a bolt hole insertion real-time force control system of the assembly robot is established by means of a six-dimensional wrist force sensor, a real-time communication software package and the like; the influence of the gravity component on the reading of the six-dimensional wrist force sensor during total-space work of the robot is eliminated through a gravity compensation method based on the standard position; and the common phenomena of jamming and excessive clamping in the bolt hole insertion process are avoided through the design of a stress analysis and force / position hybrid control strategy in the approaching stage, the hole searching stage, an insertion stage and an insertion completing stage of a hole insertion task, thus the insertion success rate of the robot is increased, and the insertion efficiency of the robot are improved; and a detector based on a support vector machine is arranged in a multi-dimensional force time sequence window, so that automatic detection of the hole searching completion state is achieved, and accurate switching between the hole searching subtask and the hole insertion subtask is guaranteed. By adoption of the total-space smooth hole insertion control method applied to the assembly robot and based on real-time force control, control over high-efficiency and high-accuracy chamfer-free smooth hole insertion assembly work can be achieved through a conventional rigid joint robot.

Description

technical field [0001] The invention relates to the field of assembly robots, in particular to a real-time force control-based full-space compliant socket control method for an assembly robot. Background technique [0002] When the robot performs precision assembly operations such as bolt insertion, due to various uncertainties or even emergencies in the assembly environment, the conventional rigid joint robot can no longer ensure the completion of the hole shaft assembly task; if only the vision-guided robot is used Hole-axis alignment, and once the visual positioning causes the assembly robot to have a slight error between the assemblies, it may lead to assembly failure, or even damage the assembly or the robot (see Zhao Min, "Robot Compliant Pick and Place Technology and Application" , Industrial Control Computer, 2016). This type of assembly and manufacturing field puts forward more stringent requirements for industrial robots. The biggest feature of this type of task i...

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Problems solved by technology

(2) Secondly, the previous vision-guided robot hole shaft assembly method (see) mostly solves the problem of plane assembly, and it is difficult to adapt to the needs of the robot's full-space operation

(3) Another problem is how to judge the switching between the various links of the jack from the timing data of the force sensor, especially the switching from the hole-hunting stage to the jacking stage. It is difficult to judge only by simple thresholding methods, so Machine learning can be used to detect the occurrence of hole hunting end events from force sensor data

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