[机器人装配的约束分析、操作规划及实验研究]张卫平

【机器人装配的约束分析、操作规划及实验研究】张卫平.pdf

Mechanical Engineering Prof.XiongYoulun ADissertationSubmittedto AcademicDegreesEvaluationCommitteeof Huazhong University of Science andTechnology fortheDegreeof DoctorofPhilosophyinEngineering Research on ConstraintAnalysisand ManipulationPlanninganditsExperiment inRoboticAssembly Ph.D.华中理工大学博士学位论文 ABSTRACT Unidirectionalcontact constraints and discrete changes ofcontact states inrobotic assembly manipulation make the assembly process nonholonomic.Owing to all kinds of uncertaintiesarisingfromassemblytasks,theconventionalpositioncontrolledrobotcontrol systemsarenolonger competent(I-I)(II-III)(1-1)(1-3)(3-9)(9-11)(12-24)(12-12)(13-15)(15-17)(17-20)(20-22)(22-24)(24-24)(25-38)(25-25)(25-28)(29-32)(32-33)(33-37)(37-38)(39-49)(39-39)(40-42)(42-43) 华中理工大学博士学位论文 目 IV ABSTRACT 1本课题的目的和意义 1国内外研究现状 1本文的主要研究内容 第二章装配接触约束建模与求解 2接触约束建模 2.