A flexible assembly simulation system and its realization method

Abstract

The disclosure provides a flexible assembly simulation system and an implementation method thereof. Among them, a flexible assembly simulation system includes: a visual guidance module, which is used to collect the target pose information on the assembly workbench and the current position information of the manipulator, and transmit them to the force perception module and the impedance control module respectively; Module, which is used to collect the contact information between the manipulator and the assembly target, and match and correct the received target pose information to increase the dimension of the contact information, and then obtain the contact status and feed it back to the vision guidance module as the next Assembly instruction data; the force sensing module is also used to collect the force information of the wrist of the mechanical arm and transmit it to the impedance control module; Provide the position correction information and control torque of the manipulator for the vision guidance module and the force perception module respectively.

Description

technical field [0001] The disclosure belongs to the field of assembly systems, and in particular relates to a flexible assembly simulation system and an implementation method thereof. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In recent years, robot technology has been developing continuously and has received more and more attention. Robots have also been widely used in industrial production. Among them, assembly work occupies a large proportion in production. With the emergence of new processes and the improvement of production standards Improvement, more and more reflects the requirements for equipment flexibility. The traditional teaching programming method requires programmers to have certain professional knowledge, especially in the process involving contact state, the program is more complicated, and this program that depends...

AI Technical Summary

Problems solved by technology

The traditional teaching programming method requires programmers to have certain professional knowledge, especially in the process involving contact state, the program is more complicated, and this program that depends on precise positioning will fail due to various uncertainties in the operation, making Traditional programming methods hinder the widespread adoption of robots in the service industry

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