A compliant robotic assembly system based on multiple sensors

摘要

Compliance assembly is based on compliance control for a specific robot to take the initiative to accomplish assembly task using recognition and perception information through a variety of sensors. With more and more sensors the assembly robot can better suit for any kind of assembly operation. This paper developed a compliance control integration system as well as a human-computer interaction interface based on visual and force sensor. Then an experimental platform was set up to carry out a basic compliant assembly task-Cylindrical peg-in-hole assembly. As a result active compliance assembly can reduce a variety of assembly error using self-perception and control. What's more, it can take the initiative to control the assembly as well as reduce damage of the components caused by passive compliant device.