关键词: 轴孔装配, 双臂机器人, 任务分解与分配, 轨迹规划, 柔顺控制

Abstract: In order to efficiently and safely fulfill the task, this paper proposes a coordinated compliance control strategy for dual arm robots. Firstly, based on the structural characteristics of the holes and pegs, a task plan that completes the assembly in one attempt is designed to meet the requirements of small tolerances. Implementing the idea of dual arm master slave coordination, the task plan is decomposed and assigned to two manipulators. Then, with the goal of eliminating pose deviations between the hole part and the peg part, a smooth motion trajectory is planned. In addition, considering the requirement of compliant contact between the hole part and the peg part, an adaptive impedance controller is constructed. In order to avoid control instability caused by the reciprocating oscillation of contact forces, an adaptive law for the stiffness coefficient is introduced to the controller. Finally, an experimental platform for the peg in hole is built based on the UR10e robotic arm, and the effectiveness of the proposed coordination compliance control strategy for dual arm robots is verified through experiments.

Key words: peg-in-hole assembly, dual-arm robots, task decomposition and allocation, trajectory planning, compliant control