A New Strategy of the Robot Assembly Motion Planning

A motion planning strategy, a dissymmetrical T-shaped peg into a C-shaped slot, is proposed based on medial axis diagram knowledge and force control technology. It is very important to understand the assembly environment in the process of the active assembly operation. The assembly environment can be understood based on the analysis of the geometrical and force conditions. The medial axis diagram is used to analyze the geometric constraint relations of the parts during the robot assembly, and by which, the whole process of the complex assembly operation can be planned. As a result, the robot can understand the almost environment information based on the planning knowledge. Due to the uncertainties in the assembly process, the force sensing and force control are executed for apperceiving the precise physical relations. Combining the medial axis diagram knowledge-based with force sensing and force control strategy, the assembly task of T-shaped peg into C-shaped slot can be completed high efficiently, and it can be used for references to the study of the robot assembly.