Installing a tight tolerant stepped shaft is not a trivial task for an industrial robot. If all peg-hole constraints are complete, the cascaded peg-in-hole task can be simplified into several independent stages and accomplished one by one. However, if some of the constraints are incomplete, the cross stage interference will bring additional difficulties. This paper aims to discuss the cascaded peg-in-hole problem with incomplete constraints.,In this paper, the problem is formulated according to geometric parameters of the stepped shaft and completeness of the corresponding hole. The possible jamming type is modeled and analyzed. A contact modeling and control strategy is proposed to compensate the peg postures under incomplete constraints.,The above methods are implemented on an experiment platform and the results verify the effectiveness of the proposed robotic assembly strategy.,Based on force/torque sensor, a hybrid control strategy for incomplete constraints cascaded peg-in-hole assembly problem is proposed.

中文翻译：

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用于具有不完全约束的紧公差级联钉孔工艺的机器人装配

安装紧公差阶梯轴对于工业机器人来说并非易事。如果所有 peg-hole 约束都完成，则可以将级联的 peg-in-hole 任务简化为几个独立的阶段，并一一完成。但是，如果某些约束条件不完整，则跨级干扰会带来额外的困难。本文旨在讨论具有不完全约束的级联钉孔问题。本文根据阶梯轴的几何参数和相应孔的完整性来制定该问题。对可能的干扰类型进行建模和分析。提出了一种接触建模和控制策略来补偿不完全约束下的钉姿势。