Research Of Robotic Compliance Assembly Technique Based On Vision/Force Sensors

In order to meet the assembly tasks of Industrial automation production lines,compliant control technology is proposed. According to the technology, robots with highaccuracy force sensor and vision sensor can make the control flexible. Simultaneously,the efficiency and quality of the production are improved significantly. Based on theforce control thoughts, a compliant assembly control system is developed in this paper.By locating the target parts of vision sensor, the whole assembly process is controlled bythe feedback information of assembly force.Firstly, the related theory about assembly of spline shaft and spline hole is deeplyanalyzed. The assembled model and corresponding coordinates are built by the analysisof the key characteristics of the node in assembly process. Planning the correspondingadjustment strategy of pose according to different contact force of different assemblyposition in the process of assemble, the assembly strategy is worked out.Secondly, by adopting the ABB IRB1410series robot as an executive mechanism,the fully pre-stressed double-layer six-component force sensor as force perceptionmechanism respectively and the HD industrial camera as visual mechanism respectively,the integrated structure and the logic relationship of the compliant assembly system areestablished. Furthermore, in this paper, the object-oriented requirement of systemfunction is analyzed and the Software integration control system is developed. The part ofreal-time communication between robot control system and sensor trough Ethernet andthe ability of apperceiving outside and active compliance control is lay as the foundationof the experiment study on the compliant assembly.Finally, with this compliant assembly system, a typical task of compliant assembly,assembly experiment of flexible spline shaft in splined hole is carried out. Through theforce feedback control, the deviation between the spline shaft and the splined hole ismodified effectively and the robot can locate the workpiece position actively in theexperiment process. Additionally, the experiment process is analyzed and researched in detail. Finally, the research represents the feasibility and effectiveness of the wholecompliant assembly system.