复杂系统管理与控制国家重点实验室知识库

In this paper, a general strategy for the precise robotic assembly of symmetrical regular polyhedral objects is presented, according to the character of the objects being assembled. The assembly operations with force sensors included are discussed. The general strategy of the operations with force sensors included is first developed. The assembly operations without relying on force sensors are next analysed. This method can be generally used in industry for the precise assembly operations for symmetric regular polyhedral objects.

This paper covers the following items:

1. An important problem demanding solution in the general robotic assembly operations with force sensors is presented.

2. The general strategy investigation for the assembly operations with force sensors included is analysed.

3. The mappings, firstly, between the directions of the contact forces and the location of the peg in the hole coordinate frame and, secondly, between the input forces and the actual movement of the peg in the hole coordinate frame are obtained.

4. The general strategy investigation for the robotic assembly operations for symmetric regular polyhedral objects without using force sensors is designed on the basis of the mappings and the general principles in the strategy investigation.

5. The experiments on the precise round and triangular peg—hole systems are presented to prove the validity of the general strategies designed.

6. The strategy of assembly operations for other symmetric regular polyhedral objects without using force sensors is presented.