Research On Compliant Assembly Of Robot Based On Teleoperation

The emergence of robot technology has promoted the rapid development of modern industry.Robot technology has been widely used in industrial production,medical equipment,entertainment facilities,military,aerospace,underwater and other fields.In most robot applications,performing assembly tasks is a broad and important requirement.Currently,using robots for assembly is mostly the case where the task is relatively simple,the working environment is relatively stable,and the working mode is relatively fixed.However,it is very difficult to carry out high-precision assembly tasks in dangerous and complex environments such as strong nuclear radiation,heavy pollution,and high temperatures.For tasks in such harsh environments,this paper proposes a shaft hole assembly strategy that combines a master slave heterogeneous teleoperation system and impedance control.The shaft hole assembly method of "human-machine cooperation+local autonomy" is used to effectively solve the highprecision assembly problem in complex and dangerous environments,and the effectiveness of the proposed method is verified through experiments.Firstly,the process of shaft hole assembly and the "stuck" problem were studied.According to the actual high-precision assembly requirements in the dangerous and complex environment,the whole framework of the teleoperating robot’s shaft hole assembly system was constructed,and the task of shaft hole assembly was divided into the hole finding task in the search stage and the hole inserting task in the insertion stage.The manipulator model is established,the forward and inverse kinematics are derived,simulation experiments are conducted,and the workspace of the manipulator is obtained,which provides the basis for the master-slave mapping of robot control and teleoperation below.Secondly,information extraction is performed on the master device,and the master slave robot spatial mapping algorithm is analyzed and discussed.A master slave mapping algorithm based on the operation space is selected to establish the relationship between the master device and the slave robot arm coordinates.A compliance control method based on impedance control is proposed.The impedance control theory based on position and orientation is analyzed,and the principles for setting impedance parameters are introduced.Then,the hardware selection and construction of the master slave telecontrol assembly system were carried out,and the software platform of the master slave telecontrol assembly system was designed.The overall structure and main functions of the software system were introduced.The communication system and related data analysis were analyzed and explained,and the visual module and force feedback mechanism were analyzed and studied.Finally,space mapping experiment of master slave teleoperation robot and experiment on compliant following motion of robotic arm were conducted to verify the performance and stability of the assembly system.The shaft hole search experiment based on master-slave control and the shaft hole insertion experiment based on compliance control were conducted,and the high-precision peg-in-hole assembly task in complex and dangerous environments was successfully completed.