Research on Parallel Robot Hole Assembly Based on Visual-Impedance Control
In response to the limitations of current collaborative robots relying on precise workpiece posi-tion information in cone-hole assembly,we propose a parallel robot control method based on visual imped-ance control.Firstly,we establish a dynamic model for robot cone-hole assembly based on the principles of robot assembly and create a motion model for image feature points using the pinhole model.Then,based on the constructed dynamic model,we design a hybrid robot control strategy combining visual servo control and impedance control.This strategy utilizes the feature point error between workpieces obtained by the vis-ual system mounted at the robot's end effector to achieve both position and force control at the robot's end effector,thereby completing the assembly between workpieces.Finally,a mechanical arm system experi-mental platform was established,and position tracking and end-effector contact force experiments for work-piece assembly were conducted.A comparative experiment was also conducted with traditional force-posi-tion control methods,validating the effectiveness and stability of this control approach.
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维普
