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本文提出并实现了一种机器人装配顺应综合方法．装配操作过程可以表示为一列离散的几何接触状态的改变和转移．通过对不确定性下所有机器人形位进行仿真，得到每一接触形式对应的静态接触力特征．由对基本接触元的分析，求解实现接触状态转移的机器人运动方向，构成顺应的力错误修复运动方向映射，为规划的装配运动实现提供顺应．并在 Ｐ Ｕ Ｍ Ａ５６２ 机器人上完成了一类简单装配实验对本文的方法进行了验证．
This paper presents and implements a robot assembly conformity method. Assembly operations can be expressed as a series of discrete geometrical contact changes and transitions. By simulating the shape of all robots under uncertainty, the static contact force characteristics of each contact form are obtained. Based on the analysis of the basic contact elements, the movement direction of the robot realizing the contact state transition is solved to form a compliant force-error correction mapping of the movement direction, so as to provide conformity for the planned assembly movement. A simple assembly experiment was completed on P U M A562 robot to validate the proposed method.