According to analyzing the obstruction in the assembly of dual peg-in-hole and assembly feasible range,a method for simultaneous assembly of dual peg-in-hole is proposed and a assembly strategy is established.Divide the as-sembly into spatial drilling and dual peg-in-hole processes,with a focus on analyzing dual peg-in-hole,after the pegs at the end of the robot contacts the holes,it enters teaching mode,assemble multiple times based on the mentioned method,con-trol the scale unification of data using DTW Algorithm,then gaussian mixture model and regression are used to fit and re-gress the data generated during the assembly process to obtain suitable robot force/torque information for assembly.The robot is controlled by the admittance controller to compensate and adjust the theoretical trajectory according to this artifi-cial prior knowledge,and a dual peg-in-hole assembly experiment is conducted.The experiment shows that the assembly strategy can accurately complete the assembly operation,which can provide certain technical guidance for the assembly of dual peg-in-hole.
robotdual peg-in-hole assemblygaussian mixture modeladmittance control
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