CN107186460A - Industrial robot carries out the method and its system of peg-in-hole assembly - Google Patents
Industrial robot carries out the method and its system of peg-in-hole assembly Download PDFInfo
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- CN107186460A CN107186460A CN201710558197.4A CN201710558197A CN107186460A CN 107186460 A CN107186460 A CN 107186460A CN 201710558197 A CN201710558197 A CN 201710558197A CN 107186460 A CN107186460 A CN 107186460A
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- force vector
- contact force
- industrial robot
- assembled shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40111—For assembly
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of method that industrial robot carries out peg-in-hole assembly, all joints of industrial robot are equipped with joint moment sensor, the step of method that industrial robot carries out peg-in-hole assembly is included assembled shaft plugging in fitting hole, in the step of by assembled shaft plugging in fitting hole, contact force vector of the assembled shaft between pilot hole is compared and obtains power error amount by the controller of industrial robot with the contact force vector set, and the feedback control for contacting force vector is realized according to the power error amount, so that assembled shaft can be contacted with pilot hole according to the contact force vector set, wherein, controller is the moment values measured according to each joint moment sensor by calculating the contact force vector between the assembled shaft described in obtaining and pilot hole.The invention also discloses the industrial robot system of peg-in-hole assembly.The present invention can realize the contact force vector between assembled shaft and pilot hole in accurate control axis hole assembling process, and the fast response time of contact force vector majorization with relatively low cost.
Description
Technical field
The present invention relates to the method and its system that peg-in-hole assembly is carried out with industrial robot.
Background technology
It is current China still have a large amount of repeat and cumbersome assembly work using being accomplished manually, manual assembly it is with high costs
And inefficiency, the equipment that is just gradually being automated such as robot substituted.Go deep into the application of robotic assembly system, its
Problems faced also becomes increasingly complex, and this also proposes higher requirement to robotic assembly system, and for example some high accuracy are high
It is required that peg-in-hole assembly operation, take the stressing conditions for carving part in control assembling process, prevent assembling workpiece and auxiliary facility
Damage.
At present, the robotic assembly system that the contact force vector between assembled shaft and pilot hole is controlled is seen in
In open source literature.Publication number CN104625676A patent discloses a kind of peg-in-hole assembly industrial robot system and its work side
Method, the industrial robot are in order that assembled shaft can be contacted with pilot hole according to the contact force vector set, in machine
Force sensor is provided between the end of human arm and clamping device, so as to add the manufacturing cost of product.In addition, the machine
The error that device people assembly system contacts force vector to end is compensated by the input of motor speed ring, and control process is present
Certain delay, so that assembling workpiece can be produced certain impact, or even causes to assemble the damage of workpiece.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of method that industrial robot carries out peg-in-hole assembly, its energy
Contact force vector in accurate control axis hole assembling process between assembled shaft and pilot hole, and contact are realized with relatively low cost
The fast response time of force vector control.
Another technical problem to be solved by this invention is to provide a kind of industrial robot system of peg-in-hole assembly.
In order to solve the above technical problems, the technical solution adopted in the present invention is：
The invention provides a kind of method that industrial robot carries out peg-in-hole assembly, all joints of industrial robot are all provided with
There is joint moment sensor, the step of method that the industrial robot carries out peg-in-hole assembly is included assembled shaft plugging in fitting hole,
In the step of by assembled shaft plugging in fitting hole, the controller of industrial robot by the contact force between assembled shaft and pilot hole to
Measure and power error amount is obtained compared with the contact force vector set, and the feedback control for contacting force vector is realized according to power error amount
System, so that assembled shaft can be contacted with pilot hole according to the contact force vector set, wherein, controller is according to each
The moment values that joint moment sensor is measured obtain the contact force vector between assembled shaft and pilot hole by calculating.
Present invention also offers the industrial robot system of peg-in-hole assembly, including industrial robot, controller, end clamping
Device, assembling workpiece and assembled shaft, assembling workpiece are provided with pilot hole；All joints of industrial robot are equipped with joint moment
The moment values measured are sent to the controller by sensor, each joint moment sensor, wherein, controller is used for basis
The moment values that each joint moment sensor is measured obtain the contact force vector between assembled shaft and pilot hole by calculating, will
Contact force vector of the assembled shaft between pilot hole obtains power error amount compared with the contact force vector set, and according to power
Error amount realizes the feedback control of contact force vector, so that assembled shaft can be entered with pilot hole according to the contact force vector set
Row contact.
After adopting the above technical scheme, the present invention at least has advantages below：
1st, embodiments of the invention measure the output torque in each joint using joint moment sensor, and with the moment values come
The contact force vector between assembled shaft and pilot hole is calculated, industrial robot motion is controlled, environmental change is unknown, assembling axis hole
In the case that error is unknown, assembled shaft is contacted with pilot hole according to the contact force vector set, complete axis hole
Fittage.Due to without install dedicated for measurement assembled shaft and pilot hole between contact force vector force sensor,
Thus reduce manufacturing cost；
2nd, embodiments of the invention are directly controlled to the servo torque ring of the controlled motor of robot, so as to significantly carry
The high response speed of contact force vector majorization, it is to avoid issuable impact in control process, is reduced to assembling workpiece
And the damage of auxiliary facility.
Brief description of the drawings
Fig. 1 shows that the structure of one embodiment of the industrial robot system for peg-in-hole assembly according to the present invention is shown
It is intended to.
Fig. 2 shows the connection signal block diagram of joint moment sensor according to an embodiment of the invention and controller.
Fig. 3 shows that industrial robot according to an embodiment of the invention carries out searching hole path in the method for peg-in-hole assembly
Schematic diagram.
Fig. 4 shows that industrial robot according to an embodiment of the invention carries out the contact force vector of the method for peg-in-hole assembly
Control block diagram.
Embodiment
The present invention is made below in conjunction with the accompanying drawings and being further illustrated.
It refer to Fig. 1 and Fig. 2.The industrial robot system of peg-in-hole assembly according to an embodiment of the invention, including industry
Robot 1, controller 21, teaching machine 22, servo-driver 23, end clamping apparatus 3, mounting plate 4, assembling workpiece 5 and
Assembled shaft 6.
The base of industrial robot 1 is fixed on assembling work station.Controller 21 is arranged in switch board 7.End is pressed from both sides
The arm end that device 3 is arranged on industrial robot 1 is held, for clamping assembled shaft 6.Assembling workpiece 5 is arranged on mounting plate 4
On, assembling workpiece 5 is provided with pilot hole 50.All joints of industrial robot 1 are equipped with joint moment sensor 11, to measure
The output torque in each joint.Input of the output end of each joint moment sensor 11 respectively with controller 21 is electrically connected,
The moment values measured are sent into controller 21.The output end of controller 21 connects with the input of servo-driver 23
Connect, each joint servo motor of the controller of servo-driver 23.
Industrial robot 1 can be moved by the track of the teaching of teaching machine 22, and operating personnel can operate teaching machine 22
Industrial robot 1 is controlled in cartesian space or joint space crawl, and records taught point, then is advised by controller 21 by taught point
Draw and obtain joint position, and moved by joint servo motor control industrial robot 1, servo-driver 23 is by controlling its position
Put ring, speed ring and current loop control joint motor and move to joint planning position.Industrial machine according to an embodiment of the invention
Device people 1 can be wu-zhi-shan pig, six-joint robot etc., the invention is not limited in this regard.
The moment values that controller 21 is used to be measured according to each joint moment sensor 11 obtain assembled shaft 6 by calculating
Contact force vector between pilot hole 50, by contact force vector contact with setting between assembled shaft 6 and pilot hole 50
Force vector, which compares, obtains power error amount, and the feedback control for contacting force vector is realized according to the power error amount, so that assembling
Axle 6 can be contacted with pilot hole 50 according to the contact force vector set.Contact force vector described herein is one
Individual sextuple vector, including three-dimensional force and three-dimensional moment.
In the present embodiment, controller 21 is to be calculated to obtain connecing between assembled shaft 6 and pilot hole 50 according to below equation
Touch vector Fext：
Fext=(JT(q))-1τext
In formula, J (q) is robot Jacobian matrix, τextFor contact force vector FextThe torque in each joint is acted on,
τext=τ-τmodel, τ is the moment values that each joint moment sensor measurement is obtained, τmodelFor by Dynamic Models of Robot Manipulators
The moment values in each obtained joint, the kinetic model of robot can be obtained using the method for identification.
In the present embodiment, above-mentioned power error amount is converted into the torque compensation value in each joint by controller 21, by power
Square offset directly acts on motor torque ring (i.e. above-mentioned electric current loop), realizes the feedback control of contact force vector.Preferably,
Controller 21 is the torque compensation value that power error amount is converted into each joint by impedance control algorithm, but not limited to this.
The method that industrial robot according to an embodiment of the invention carries out peg-in-hole assembly, comprises the following steps：
Step a, the control clamping of end clamping apparatus 3 assembled shaft 6 move to the top of pilot hole 50.
Specifically, the end clamping apparatus 3 of teaching industrial robot system moves to a certain directly over pilot hole 50
Position, records the taught point.Then the track that industrial robot 1 is generated by trajectory planning is made to move to the teaching from initial position
Point.Here teaching is simple teaching, that is to say, that now assembled shaft 6 and pilot hole 50 have unknown position and posture is missed
Difference.
Step b, by the plugging in fitting hole 50 of assembled shaft 6.
Step b further comprises searching hole step and inserting step.
In hole step is searched, the end clamping apparatus 3 of robot clamps assembled shaft 6 with pilot hole plane by connecing for setting
Touch vector is contacted, and is moved along the X-axis and Y direction under cartesian coordinate system, starts to be searched in X/Y plane
Hole.Search during hole and detect the contact force of Z-direction all the time, judge whether assembled shaft 6 enters pilot hole 50.
Searching hole path can be designed according to the situation of assembling workpiece 5, such as the fairly simple broken line shown in Fig. 3
Track.When the contact force of Z-direction reduces suddenly, illustrate that the axis of assembled shaft 6 has been weighed substantially with the center line of pilot hole 50
Close, the jack action of next step can be continued.
After correct pilot hole 50 is found, the clamping of end clamping apparatus 3 assembled shaft 6 continues to move downward, and passes through machine
Whether the stressing conditions change of device people end and the Distance Judgment assembled shaft 6 moved downward are correctly completed assembling.
After assembled shaft 6 enters pilot hole 50, the power and torque that controller 21 is subject to assembled shaft 6 are controlled, and enter one
The position of successive step assembled shaft 6 and posture realize that assembled shaft 6 and the posture of pilot hole 50 are basically identical.When z directions, contact is tried hard to keep
The contact force in setting is held, and remaining direction contact force/torque judges that assembled shaft 6 has been successfully inserted into all at 0 or so
The bottom of pilot hole, peg-in-hole assembly is completed.
In the step of the plugging in fitting hole by assembled shaft, the controller 21 of industrial robot is by assembled shaft 6 and dress
Contact force vector between distribution 50 obtains power error amount compared with the contact force vector set, and according to the power error amount
The feedback control of contact force vector is realized, so that assembled shaft 6 can be carried out with pilot hole 50 according to the contact force vector set
Contact.
Wherein, the size of the contact force vector between assembled shaft 6 and pilot hole 50 can in real time be calculated by controller 21
Arrive.Controller 21 can be calculated between assembled shaft 6 and pilot hole 50 by the measurement result of each joint moment sensor 11
Contact force vector FextAct on the torque τ in each jointext。τext=τ-τmodel, τ is that each joint moment sensor is measured
The moment values arrived, τmodelFor the moment values in each joint obtained by Dynamic Models of Robot Manipulators, the kinetic model of robot
It can be obtained using the method for identification.Controller 21 calculates the contact between assembled shaft 6 and pilot hole 50 by following publicity
Force vector Fext：
Fext=(JT(q))-1τext
In formula, J (q) is robot Jacobian matrix.
Further, in the step of by assembled shaft plugging in fitting hole, above-mentioned power error amount is converted into by controller 21
The torque compensation value in each joint, motor torque ring is directly acted on by torque compensation value, realizes the feedback control of contact force vector
System, reaches the purpose for accurately controlling contact force vector in real time.Due to response frequency specific rate ring, the position ring of motor torque ring
Will be high, therefore the response controlled is faster, it is possible to prevente effectively from issuable impact in control process.
Preferably, controller 21 is the torque compensation that power error amount is converted into each joint by impedance control algorithm
Value.
Impedance control is by the way that robot end's power and position control are equivalent into spring mass-damper model, machine is set up
Device people end movement and the relation for contacting force vector, and by any resistance control parameter realize adjustment robot end position with
Contact the relation of force vector.The model of impedance control algorithm can be chosen for the form of second order differential equation：
In formula, FdFor the contact force vector set between assembled shaft 6 and pilot hole 50, FextFor assembled shaft 6 and pilot hole 50
Between actual contact force vector, calculated and obtained by the measurement result of each joint moment sensor 11 by controller 21, Md、
Bd、KdFor adjustable impedance control parameter, χdPosition and the posture for expecting to reach for robot under cartesian coordinate system, the position
The real-time update in assembling process is put, χ is the actual position of robot under cartesian coordinate system and posture.To make robot end
Above-mentioned impedance model, the offset τ of each joint moment are met in assembling processcomIt can be obtained by following formula：
In formula,Represent respectively inertia item in Dynamic Models of Robot Manipulators, coriolis force and
Gravity, J (q) is robot Jacobian matrix, and q is each joint position vector of robot.
Fig. 4 shows that industrial robot according to an embodiment of the invention carries out the contact force vector of the method for peg-in-hole assembly
Control block diagram.
The present invention improves the precision of workpiece and the contact forces vector majorization of pilot hole during peg-in-hole assembly, it is adaptable to
Higher is required to assembly precision, to contacting the fittage that force vector requires strict in assembling process.
Claims (8)
1. a kind of method that industrial robot carries out peg-in-hole assembly, all joints of the industrial robot are equipped with joint moment
Sensor, the step of method that described industrial robot carries out peg-in-hole assembly is included assembled shaft plugging in fitting hole, described
By in the step of assembled shaft plugging in fitting hole, the controller of industrial robot by the contact force between assembled shaft and pilot hole to
Measure and power error amount is obtained compared with the contact force vector set, and the anti-of contact force vector is realized according to the power error amount
Feedback control, so that assembled shaft can be contacted with pilot hole according to the contact force vector set, it is characterised in that the control
Device processed be the moment values that are measured according to each joint moment sensor by calculate obtain described assembled shaft and pilot hole it
Between contact force vector.
2. the method that industrial robot as claimed in claim 1 carries out peg-in-hole assembly, it is characterised in that the controller is root
The contact force vector F obtained between assembled shaft and pilot hole is calculated according to below equationext：
Fext=(JT(q))-1τext
In formula, J (q) is robot Jacobian matrix, τextFor contact force vector FextAct on the torque in each joint, τext=
τ-τmodel, τ is the moment values that each joint moment sensor measurement is obtained, τmodelObtained by Dynamic Models of Robot Manipulators
The moment values in each joint.
3. the method that industrial robot as claimed in claim 1 carries out peg-in-hole assembly, it is characterised in that the controller is by institute
The torque compensation value that power error amount is converted into each joint is stated, the torque compensation value is directly acted on into motor torque ring, it is real
Now contact the feedback control of force vector.
4. the method that industrial robot as claimed in claim 3 carries out peg-in-hole assembly, it is characterised in that the controller passes through
The power error amount is converted into the torque compensation value in each joint by impedance control algorithm.
5. the industrial robot system of peg-in-hole assembly, including industrial robot, controller, end clamping apparatus, assembling workpiece with
And assembled shaft, the assembling workpiece is provided with pilot hole；All joints of the industrial robot are equipped with joint moment sensor,
The moment values measured are sent to the controller by each joint moment sensor, it is characterised in that the controller is used for
The moment values measured according to each joint moment sensor by calculate obtain contact force between assembled shaft and pilot hole to
Amount, contact force vector of the assembled shaft between pilot hole is compared with the contact force vector set and obtains power error amount, and
The feedback control of contact force vector is realized according to the power error amount, so that assembled shaft can be according to connecing for setting with pilot hole
Touch vector is contacted.
6. the industrial robot system of peg-in-hole assembly as claimed in claim 5, it is characterised in that the controller is used for basis
Below equation calculates the contact force vector F obtained between assembled shaft and pilot holeext：
Fext=(JT(q))-1τext
In formula, J (q) is robot Jacobian matrix, τextFor contact force vector FextAct on the torque in each joint, τext=
τ-τmodel, τ is the moment values that each joint moment sensor measurement is obtained, τmodelObtained by Dynamic Models of Robot Manipulators
The moment values in each joint.
7. the industrial robot system of peg-in-hole assembly as claimed in claim 5, it is characterised in that the controller is used for institute
The torque compensation value that power error amount is converted into each joint is stated, the torque compensation value is directly acted on into motor torque ring, it is real
Now contact the feedback control of force vector.
8. the industrial robot system of peg-in-hole assembly as claimed in claim 7, it is characterised in that the controller is used to pass through
The power error amount is converted into the torque compensation value in each joint by impedance control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710558197.4A CN107186460A (en) | 2017-07-10 | 2017-07-10 | Industrial robot carries out the method and its system of peg-in-hole assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710558197.4A CN107186460A (en) | 2017-07-10 | 2017-07-10 | Industrial robot carries out the method and its system of peg-in-hole assembly |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972623A (en) * | 2018-07-27 | 2018-12-11 | 武汉理工大学 | Robot end's clamping error automatic correcting method based on power control sensor |
| CN108994835A (en) * | 2018-08-15 | 2018-12-14 | 深圳蓝胖子机器人有限公司 | Article laying method and system based on torque sensor |
| CN109591013A (en) * | 2018-12-12 | 2019-04-09 | 山东大学 | A kind of flexible assembly analogue system and its implementation |
| CN109794932A (en) * | 2017-11-16 | 2019-05-24 | 财团法人工业技术研究院 | Mechanical arm system of processing and its processing method |
| CN110449882A (en) * | 2019-08-02 | 2019-11-15 | 珞石（北京）科技有限公司 | The search assembly method of binding force control |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN110549338A (en) * | 2019-09-10 | 2019-12-10 | 哈尔滨工业大学 | Robot automatic assembly method for round-rectangular composite hole parts |
| CN110549331A (en) * | 2019-07-16 | 2019-12-10 | 浙江工业大学 | Method and equipment for automatically assembling precision hole shaft |
| CN111683796A (en) * | 2019-09-03 | 2020-09-18 | 上海非夕机器人科技有限公司 | Mechanical arm and robot |
| WO2020220930A1 (en) * | 2019-04-30 | 2020-11-05 | Shanghai Flexiv Robotics Technology Co., Ltd. | Robot-based insertion mounting of workpieces |
| US10967510B2 (en) | 2017-11-16 | 2021-04-06 | Industrial Technology Research Institute | Robot arm processing system and method thereof |
| CN113433961A (en) * | 2021-07-02 | 2021-09-24 | 北方工业大学 | Foot end touchdown feedback component of foot type robot and control method thereof |
| CN114670207A (en) * | 2022-05-09 | 2022-06-28 | 山东大学 | Mechanical arm compliance control method and system based on wild dog optimization algorithm |
| CN114829080A (en) * | 2019-12-17 | 2022-07-29 | 富兰卡爱米卡股份有限公司 | Calibration of virtual force sensors of a robotic manipulator |
| WO2024098787A1 (en) * | 2022-11-07 | 2024-05-16 | 节卡机器人股份有限公司 | Shaft hole assembly method and system, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109794932A (en) * | 2017-11-16 | 2019-05-24 | 财团法人工业技术研究院 | Mechanical arm system of processing and its processing method |
| US10967510B2 (en) | 2017-11-16 | 2021-04-06 | Industrial Technology Research Institute | Robot arm processing system and method thereof |
| CN108972623A (en) * | 2018-07-27 | 2018-12-11 | 武汉理工大学 | Robot end's clamping error automatic correcting method based on power control sensor |
| CN108994835A (en) * | 2018-08-15 | 2018-12-14 | 深圳蓝胖子机器人有限公司 | Article laying method and system based on torque sensor |
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| WO2020220930A1 (en) * | 2019-04-30 | 2020-11-05 | Shanghai Flexiv Robotics Technology Co., Ltd. | Robot-based insertion mounting of workpieces |
| CN110549331B (en) * | 2019-07-16 | 2024-05-03 | 浙江工业大学 | Method and equipment for automatically assembling precise hole shaft |
| CN110549331A (en) * | 2019-07-16 | 2019-12-10 | 浙江工业大学 | Method and equipment for automatically assembling precision hole shaft |
| CN110449882A (en) * | 2019-08-02 | 2019-11-15 | 珞石（北京）科技有限公司 | The search assembly method of binding force control |
| CN110480338B (en) * | 2019-08-28 | 2020-08-25 | 苏州大学 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN111683796A (en) * | 2019-09-03 | 2020-09-18 | 上海非夕机器人科技有限公司 | Mechanical arm and robot |
| CN110549338A (en) * | 2019-09-10 | 2019-12-10 | 哈尔滨工业大学 | Robot automatic assembly method for round-rectangular composite hole parts |
| CN110549338B (en) * | 2019-09-10 | 2022-06-21 | 哈尔滨工业大学 | Robot automatic assembly method for round-rectangular composite hole parts |
| CN114829080A (en) * | 2019-12-17 | 2022-07-29 | 富兰卡爱米卡股份有限公司 | Calibration of virtual force sensors of a robotic manipulator |
| CN113433961A (en) * | 2021-07-02 | 2021-09-24 | 北方工业大学 | Foot end touchdown feedback component of foot type robot and control method thereof |
| CN114670207A (en) * | 2022-05-09 | 2022-06-28 | 山东大学 | Mechanical arm compliance control method and system based on wild dog optimization algorithm |
| WO2024098787A1 (en) * | 2022-11-07 | 2024-05-16 | 节卡机器人股份有限公司 | Shaft hole assembly method and system, and storage medium |
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