Two-arm robot precise assembly method based on six-dimensional force sensor

Abstract

The invention discloses a two-arm robot precise assembly method based on a six-dimensional force sensor. The method comprises the following steps that a robot controller reads all joint angles of a left mechanical arm and all joint angles of a right mechanical arm; Cartesian space poses of the left mechanical arm and the right mechanical arm are obtained; according to the Cartesian space poses of the left and right mechanical arms, the Cartesian space poses of pin hole workpieces at the tail ends of the left and right arms relative to the base coordinates of the robot are obtained through coordinate conversion; a left arm tail end pin hole planning path and a right arm tail end pin hole planning path are obtained through a fast potential energy exploration-based random tree method; wherein the planned path is short in movement distance, short in assembling operation time, low in mechanical arm energy consumption and capable of avoiding interference; and according to the left arm tail end pin hole and right arm tail end pin hole planning path, a control method based on a learning variable impedance control system is used for controlling the left mechanical arm and the right mechanical arm to be flexibly assembled. According to the method, the high-quality path can be planned, and the compliant assembly capacity is achieved.

Description

technical field [0001] The invention belongs to the technical field of dual-arm robots with six-dimensional force sensors, and in particular relates to a precision assembly method for a dual-arm robot based on six-dimensional force sensors. Background technique [0002] Aerospace manufacturing has very high requirements for precision, reliability, and standardized processes. Therefore, a large number of craftsmen from major countries have been trained in the field of aerospace manufacturing. However, with the passage of time, some skilled craftsmen have gradually reached the retirement age, and the new generation of labor force born in the 1980s and 1990s is no longer interested in simple and repetitive industrial jobs with poor working conditions. At the same time, it is also a good choice to replace part of the work with robots. The transformation from aerospace manufacturing to aerospace intelligent manufacturing has become the general trend. [0003] At present, the ass...

AI Technical Summary

Problems solved by technology

However, because the artificial potential field method is prone to fall into local optimum, the A* algorithm is difficult to play a role in the dynamic road network, and the RRT algorithm has poor path quality, etc., it is difficult to plan a high-quality path in the dual-arm cooperative assembly operation.

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