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Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot
Robotic Intelligence and Automation ( IF 2.1 ) Pub Date : 2020-01-16 , DOI: 10.1108/aa-10-2018-0164
Yanjiang Huang , Yanglong Zheng , Nianfeng Wang , Jun Ota , Xianmin Zhang

The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.,The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage.,The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece.,The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

中文翻译:

基于主从协调的柔性双臂机器人孔内钉装配

本文旨在提出一种基于主从协调的装配方案,用于柔性双臂机器人完成钉孔装配任务。所提出的装配方案受到人类在装配过程中的协调行为的启发。 . 控制机器人的左臂和右臂交替移动。固定臂和移动臂分别被区分为从臂和主臂。在非接触阶段采用位置控制模型,在接触阶段采用转矩控制模型。,通过不同形状装配件的孔洞装配实验对提出的装配方案进行了评估。基于所提出的方法可以成功地组装圆钉和孔之间最大间隙为 0.5 mm 的圆形、三角形和方形组装件。
更新日期:2020-01-16
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