Abstract
For complex spacecraft assembly conditions, how to play effective and flexible robotic characteristics, and improve production efficiency, is the problem needed to solve.this paper presents a flexible force control method on robotic assembly: a 6-axis force/torque sensor is mounted between tools and the end of robots, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator’s hands through gravity compensation algorithm, then the force/torque information is used as input parameters to control the robots moving with the hands. The detailed scheme and algorithms are presented in this paper.
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