Laser tracker-based control for peg-in-hole assembly robot

摘要

The peg-in-hole insertion is the most common and often one of the most important procedures in large-scale equipment manufacturing. However, in the process of peg-in-hole assembly operation using robot, the parts may not be assembled correctly or even be damaged because of the deviation causing by the inaccuracy of the assembly robot. To overcome this problem, this paper presents a kind of large-scale peg-in-hole robotic assembly system based on laser tracker and its corresponding control strategy. The simulation and analysis are also demonstrated to verify the system efficient.