Robot flexible assembly control method and system

Abstract

The invention discloses a robot flexible assembly control method and system. The method comprises the steps that a transition process is arranged at the tail end of a robot during switching from free space control to constraint space control so as to reduce impact force; the tail end of the robot is assembled and moved, and a moving initial point and a moving end point are recorded; the displacement of the tail end of the robot is adjusted through self-adaptive impedance control, so that the stress of the tail end of the robot in the X-axis direction and the Y-axis direction is reduced; an assembling distance is obtained according to the position difference value between the position of the moving initial point and the position of the moving end point; and it is considered that assembling is successful when the assembling distance is equal to a set distance, the contact force of the tail end of the robot on the Z axis is larger than a set threshold value and the contact force of the tail end of the robot on the X axis and the Y axis is zero. The system comprises a transition arrangement module, a control module and an self-adaptive impedance control module. By means of the method and the system, the impact strength of the tail end of the robot and the surface of a workpiece can be reduced, and the assembly precision is improved. The method and the system are mainly used in the field of robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and system for controlling flexible assembly of robots. Background technique [0002] In the prior art, assembly robots play a role of replacing labor in industrial production. Unlike other industrial application robots, robots such as welding, spraying, and handling can easily complete tasks without contacting the external environment when used. Therefore, such robots can be called position-controlled robots. However, the assembly robot needs to be in contact with the external environment. If the position control method is still used, there will be certain dangers, ranging from the failure of the assembly task to serious damage to the workpiece and the assembly robot. Therefore, for the assembly robot It is very necessary to be compliant (that is, to show compliance with the environment when interacting with the environment). [0003] In order to make the robot assembl...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a robot flexible assembly control method and system to solve one or more technical problems in the prior art, at least provide a beneficial choice or create conditions

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