Study on Compliant Control Method of Robot Arm Based on Force Guidance

To address issues such as excessive contact forces, low assembly precision, and jamming that may occur in unstructured automatic assembly, this paper proposes a force-guided compliant control assembly method. The assembly task is divided into two phases: a preparation phase and an assembly phase. In the preparation phase, a vision-based grasping and positioning scheme utilizing a depth camera is employed. In the assembly phase, an environmental attraction domain assembly method based on admittance control is adopted. Finally, simulation experiments were conducted, and the results demonstrate that the proposed assembly scheme can autonomously perform part grasping and high-precision assembly in unstructured environments while ensuring compliance throughout the process, thereby validating the superiority of the method.