Robot Compliance Control for Peg-in-Hole Assembling Based on Contact Mechanics

Abstract

Peg-in-hole assembling structure is a commonly used mechanical structure for automatic assembly of robots in the aerospace field. With the structural constraints between pins and holes, the robot drives the installed equipment. With the force flexibility provided by the robot compliant control algorithm, the device will be installed in place along the guidance of the assembling pin. The traditional manual control method for pin-hole matching is more and more difficult to adapt to the installation of large-size equipment. To solve this problem, this paper proposes an improved force control method that takes into account the influence of contact force between the pegs and holes on impedance controller, and comprehensively considers the influence of elastic contact and friction between pegs and holes, so that it can adapt to the force compliance installation of large-size equipment, and the effectiveness of this method is proved by simulation experiment.