Active Compliance Force Information-based Robot Assembly Research

With the rapid development of robotics, more and more robots are running at the factories, most of which are taking on assembly tasks. When a robot is working on precision assembly, the tools need to be located accurately. But the robot and other appliances around have inevitable lateral error which will block the assembly. So the dissertation makes a preliminary research on robotic active compliance assembly about typical peg-hole mating based on assembly force.In the dissertation, the force model of peg-hole mating is established and the relation between the lateral error and force/torque is derived. The plan to hole searching based on wrist sensor is proposed. Physical model of sensor, tool tail-end and the environment is made. The stability of the model is also analyzed.