ACTIVE COMPLIANCE CONTROL STRATEGIES FOR ROBOTIC ASSEMBLY APPLICATIONS.

摘要

A hybrid force/position control scheme is developed that is suitable for robotic assembly applications. The technique uses active compliance or 'stiffness control,' and is suitable for use with commercially available robots that are programmed by means of position, rather than force, commands. The generic structure of an assembly task is analyzed, and is used to develop a procedure whereby the user can easily adapt the control scheme to the particular application at hand. Examples and experimental results using a BNC 'bayonet' type connector are presented to demonstrate successful applications of the scheme.