Robotic Assembly Work Using Force Control

In this paper, the method of automatic installation of large equipment robot is deeply studied. This system achieves motion control and completes assembling process by calculating the trajectory of the target according to its spatial coordinates and attitude. The system use the ATI six axis force/torque sensor to acquire information and compliant force control algorithm to avoid the acceleration phase, and reduce the interference of inertia force. At the same time, the problem of inertial shock and vibration affecting the control effect in the course of motion is solved by acquiring in advance, analyzing and filtering interference waveform. The force and torque, compensated by the gravity component of a certain direction, are transformed into space coordinates to calculate the increment of motion, and then the motion is carried out by the controller. Finally, the validity of the method is verified by experiment.