Force feedback-based industrial robot auxiliary assembling and flexible docking method

Abstract

The invention discloses a force feedback-based industrial robot auxiliary assembling and flexible docking method which is characterized in that a low-six-dimensional-force sensor is manually pushed or twisted to enable a workpiece at the tail end of an industrial robot to do corresponding instant motion; the workpiece docking posture is subjected to fine adjustment to realize posture adjustment for mounting the workpiece; and meanwhile, the moving track of the industrial robot is corrected in real time through a force / posture mixing control method according to feedback information of a high-six-dimensional-force sensor and an error between actual acting force and ideal acting force, so that contact force can be retained in a desired range, and flexible docking is realized. According to the force feedback-based industrial robot auxiliary assembling and flexible docking method, by means of force feedback and algorithm control, mounting equipment can be completely fitted with the mounting surface, and the fitting precision is much higher than that obtained by visual observation and manual following adjustment fitting; and repeated visual observation of the docking condition and repeated adjustment of the equipment posture are not needed, so that the docking efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of aerospace equipment assembly. Specifically, it relates to an industrial robot-assisted assembly flexible docking method for aerospace equipment interference detection, pose adjustment and flexible docking. [0002] technical background [0003] At present, industrial robots have the characteristics of large load capacity and high adjustment accuracy, which can realize stable maintenance and precise adjustment of heavy parts. In order to combine the installation of industrial robots and aerospace equipment, two Chinese invention patents have been disclosed in the prior art: (1) "A Method for Flexible Follow-up Control of Robotic Arms of Spacecraft", application number: CN2013105721 78.9; ( 2) "A Gravity Compensation Method for Flexible Follow-up Control of Spacecraft Manipulator", application number: CN201310552492.0. The above two methods have been tested to realize that the installation equipment moves ...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem of uneven force caused by non-parallel docking surfaces encountered in assembly and docking, the present invention obtains the external interference force received by the workpiece during the assembly process through a six-dimensional sensor, and further adopts a force position control method to realize contact docking The flexible adjustment of the workpiece position during the process can ensure the complete fit between the docking surfaces and control the contact force within a safe range. Force remains within the proper range

Images