| 环境理解机器人接触约束装配策略研究 |
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| 引用本文： | 夏妍春,蔡池兰,白跃伟. 环境理解机器人接触约束装配策略研究[J]. 机械与电子, 2010, 0(4): 40-45 |
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| 作者姓名： | 夏妍春 蔡池兰 白跃伟 |
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| 作者单位： | 上海第二工业大学机电工程学院,上海,201209 |
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| 基金项目： | 上海市教育委员会重点学科建设项目资助(J51802);;上海高校选拔培养优秀青年教师科研专项基金(EGD08004);;校科技发展基金(QD2008009) |
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| 摘 要： | 以T型轴与C型孔的装配操作为例，提出了一种粗、精结合的运动规划策略。根据几何环境推理，推导出装配过程的接触约束方程，由接触约束方程的组合及变化建立装配件之间的位姿关系进行粗运动规划分析。利用中轴图方法进行路径规划减少了装配过程中出现的位姿状态，建立了一条优化的粗规划路径。基于对装配环境的理解，进行了基于力控制的精运动规划分析。
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| 关 键 词： | 粗 精运动规划 环境理解 力控制 中轴图 接触约柬 |
Strategy Study of the Robot Contact Elastic Deformation Assembly Based on Environmental Understanding |
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| XIA Yan-chun,CAI Chi-lan,BAI Yue-wei. Strategy Study of the Robot Contact Elastic Deformation Assembly Based on Environmental Understanding[J]. Machinery & Electronics, 2010, 0(4): 40-45 |
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| Authors: | XIA Yan-chun CAI Chi-lan BAI Yue-wei |
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| Affiliation: | School of Mechanical and Electronic Engineering/a>;Shanghai Second Polytechnic University/a>;Shanghai 201209/a>;China |
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| Abstract: | A coarse combining with fine motion planning strategy is provided based on the example of a T-shaped peg into C-shaped hole.Based on the geometric environment ratiocination,the contact constraint equations of the assembly process can be drawn.The relations of pose states between the two assembly parts can be established by combination and changes of the equations,then the coarse motion planning can be analyzed.The pose states during the assembly process can be reduced by the medial axis method,by which the ... |
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| Keywords: | coarse and fine motion planning environment understanding force control medial axis contact constrain |
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