Research On Robot Flexible Force Position Control System Based On Six-dimensional Force

Robot control has always been an important research topic for industrial robots.The research content of this paper is the application and research of robot in the field of flexible force/bit control.It relies on the natural science fund project of the Institute of Automation,Chinese Academy of Sciences,“Research on the action learning and workpiece capture method of mobile assembly robot”.In this paper,a six-dimensional force-based industrial robot control system is used for high-precision assembly work.Taking high-precision shaft hole assembly as an example,based on the position control of robot vision,the six-dimensional force feedback control system is modeled and finally Experiments were performed to achieve industrial shaft hole assembly with positional accuracy below 80 microns.The research content mainly includes three aspects,including six-dimensional force,force/position control,and shaft hole assembly.The three research contents are summarized as follows:(1)The acquisition of high-precision force signals from industrial robots to the environment is a necessary condition for achieving high-precision assembly.According to the high-precision acquisition of industrial robot force signals,under the basis of visual recognition and positioning system,the high-precision axial hole assembly of the robot is carried out by pressure detection,three-dimensional force analysis and sixdimensional force analysis.In the shaft hole assembly process,it is necessary to The target workpiece is tracked by the force and moment of the X,Y,and Z axes in the space,and the position/pitch correction of the axis workpiece is performed according to the force/torque information fed back by the six-dimensional force sensor,thereby successfully completing the high-precision shaft hole assembly task.The control method of the robot flexible force/bit control system based on six-dimensional force is determined.(2)High-precision flexible assembly for the robot in the project,while the target workpiece is assembled,the state of the robot and the target workpiece are controlled in real time to avoid collision with the rigid environmental constraint surface,resulting in damage to the experimental equipment.Therefore,a flexible force/bit control strategy based on six-dimensional force is used to correct the pose information of the target workpiece in real time through six-dimensional force information feedback to realize closed-loop feedback control.Experiments show that the flexible force/position control of the robot based on six-dimensional force can track and correct the pose of the target workpiece in the assembly,and finally complete the assembly task smoothly.(3)For the flexible force/position control of robot based on six-dimensional force,the experimental verification of high-precision axial hole assembly is carried out,and the process and mechanics analysis based on the axial hole assembly experiment under the control system is realized.The high-precision assembly task completed the requirements of high-precision assembly in the project.The control precision reached 50 microns in the experiment,which can complete the high-precision shaft hole assembly work well and was applied in the World Robot Challenge.Weili's flexible force control system has certain application value.