Abstract
In order to enhance assembling precision, it is necessary to research the key technology of the robot peg-in-hole assembly. Position difference models between the barycenter position of spare parts and the axis of holes were established by analyzing robot peg-in-hole assembly and utilizing force-position control method. Studies were conducted using visual servo to adjust position differences in jamming occurrences. The article deduced the control law of the robot peg-in-hole assembly jamming. Visual servo and force-position control method can be applied to the enhancement of the accuracy and speed of robot peg-in-hole assembly, thus improving the quality of the assembly.
| Original language | English |
|---|---|
| Pages (from-to) | 717-720 |
| Number of pages | 4 |
| Journal | Shenyang Jianzhu Daxue Xuebao (Ziran Kexue Ban)/Journal of Shenyang Jianzhu University (Natural Science) |
| Volume | 24 |
| Issue number | 4 |
| State | Published - 2008 |
| Externally published | Yes |
Keywords
- Jamming
- Peg-in-hole assembly
- Robot
- Visual servo