%0 Journal Article
%A MA Ru-qi
%A TANG Ling
%A WANG Yao-bing
%A WEI Shi-min
%A YU Yang
%T Robot Assembly Technology Based on Compliance Control
%D 
%R 10.13190/j.jbupt.2019-227
%J Journal of Beijing University of Posts and Telecommunications
%P 1-6
%V 43
%N 4
%X Aiming at the problem that the difficulty of compliant assembly of robot in complex contact environments,a compliant assembly method based on accurate acquisition of force information and improved hybrid force/position control algorithm is presented.In the method,after bias and load gravity compensation are performed on the robot end force sensor,the real contact force of the robot end-effector at the assembly contact point is calculated in real time by matrix transformation,and the motion of the robot follows velocity-force relationship of the hyperbolic tangent during force control.Experiments show that the robot did not shake significantly during the assembly process,and the proposed algorithm has a good compliant assembly effect.
%U https://journal.bupt.edu.cn/EN/10.13190/j.jbupt.2019-227