In the industrial robotic assembly process, it is difficult to establish a precise physical model. Moreover the assembly process is generally described by contact state. A robot phased guided assembly method based on the contact state model is proposed. An assembly contact state model with the force, torque, position, and posture in each stage of the assembly is built, combined with the mapping relationship between each stage in the assembly process and the robot's execution actions. The algorithm verification is carried out on the built KUKA robot assembly platform. The results showed that the recognition accuracy rate of each assembly stage through the established assembly process model reached 100%, and the assembly success rate under the phased guidance strategy reached 99%.
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT II
Robot assembly, Assembly modeling, Contact state, Stage guidance