论文部分内容阅读
机器人装配作业是机器人应用的一个重要领域，装配机器人作为自动化技术、机构学、传感器技术、材料科学、信息处理等多学科综合而成为机器人研究的热点。对于扩大机器人的应用领域，其适应性极其重要。本文简要地介绍了装配机器人结构及其工作原理以及装配机器人被动适从和主动适从的实现问题，详细地介绍了机器人装配作业控制中的动力学问题以及不确定性问题，最后指出了装配机器人控制的努力方向。
Robot assembly is one of the most important applications in robotics. Assembly robots have become hot topics in robotics as a multidisciplinary component of automation, mechanics, sensor technology, materials science and information processing. The adaptability of expanding the robot’s application area is extremely important. This paper briefly introduces the structure and working principle of the assembly robot and the implementation of the passive adaptation and active adaptation of the assembly robot. The dynamics and uncertainty of the robot assembly operation control are introduced in detail. Finally, Control the direction of efforts.