A compliant motion control for insertion of complex shaped objects using contact
A compliant motion control for insertion of complex shaped objects using contact
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用于使用接触插入复杂形状物体的顺应运动控制
DOI：
10.1109/robot.1997.620139
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Kyo
中科院分区：
文献类型：
--
作者：
Sung;Y. Hwang;M. Kim;Chongwon Lee;Kyo
提出了一种复杂凹型件插入的柔顺控制方法。大多数机器人装配使用顺应运动控制的工作集中在克服简单的钉孔问题的干扰条件，不能用于装配应用中经常遇到的复杂形状。当一个物体被插入一个小间隙的孔或槽中时，会发出一个接触路径来补偿不确定性。然而，当物体形状复杂时，接触状态多次且剧烈地改变，使得柔顺控制困难。我们的算法是能够控制顺应运动，尽管不断变化的接触状态。在执行标称运动计划期间，它使用接触定位算法根据力/扭矩传感器阅读计算接触点的实际位置。然后，它动态地将顺应中心更新到计算出的接触点，并最大限度地减少堵塞和不必要的碰撞的机会。该控制方案已在硬件上实现，并在将T形插入C形的任务上进行了测试，该任务涉及非常严格的公差。插入运动是由一系列的2个平移和1个旋转的顺应性运动，并成功地执行所提出的顺应性运动控制器。
This paper presents a compliant control method for insertion of complex objects with concavities. Most work on robot assembly using compliant motion control focuses on overcoming jamming conditions for simple peg-in-hole problems, and cannot be used for complex shapes frequently encountered in assembly applications. When an object is being inserted into a hole or slot with a small clearance, a contact path issued to compensate for uncertainties. When the object shape is complex, however, the contact state changes several times and severely, making compliant control difficult. Our algorithm is capable of controlling compliant motion in spite of changing contact states. During the execution of a nominal motion plan, it computes the actual position of the contact point from the force/torque sensor reading using a contact localization algorithm. It then dynamically updates the center of compliance to the computed contact point, and minimizes the chance of jamming and unwanted collisions. The control scheme has been implemented on hardware and tested on the task of inserting a T-shape into a C-shape involving a very tight tolerance. The insertion motion was accomplished by a sequence of 2 translational and 1 rotational compliant motions, and successfully executed by the proposed compliant motion controller.