A large potential for industrial robot application is in automatic assembly. With many products toady being asembled in small to medium size batches, programmable and robotic assemblies are being used where special purposes assembly equipment or workers cannot be employed economically. Therefore, the research on robot compliance is very important, respecially for assembly by robots. The following issues in robot compliance research will be addressed in this paper: a) the specification of robot end-effector compliance; b) properties of a robot complince matrix at its end-effector; c) discssions on Passive combpiance and Active compliance and the comparison between them; and d) an example of the derivation of the compliance at the end-effector equired for automated screw driving task.
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