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本文提出一种基于力感的机器人自动寻孔新方法,该方法是将轴工件在孔工件表面做圆锥运动,用腕力传感器检测对应的轴向力序列,即可在约一个孔径的误差范围内,在轴、孔无倒角的情况下,获得孔中心的搜寻方向.文中还给出了用该寻孔方法在PUMA562机器人和Movemaster-EX机器人上的实验结果.实验结果表明,该寻孔方法具有快速、准确和实用的特点.
In this paper, a new robot-based automatic hole searching method based on force sense is proposed. This method uses the wrist force sensor to detect the corresponding axial force sequence by performing a cone motion on the surface of the hole workpiece. In this way, the error of about one aperture , The search direction of the center of the hole is obtained under the condition of no chamfering of the shaft and the hole.The experimental results on the PUMA562 robot and the Movemaster-EX robot using the hole finding method are also given.The experimental results show that the method of the hole-finding With fast, accurate and practical features.