【摘要】 讨论了改进的力／位混合控制方案、异形孔装配策略规划及其在ＪＲＢ－１机器人上的实现。简述了该方案的优点，在ＪＲＢ－１机器人上实现所解决的问题，提出用适应性增益解决力控环稳定问题。文中还结合异形孔装配给出了装配任务的描述和装配策略的自动生成方法。更多还原

【Abstract】 The implementation of the improved force control scheme on JRB-1 robot and the planning of non-circular peg-into-hole assembly strategy are discussed here. The advantages of the scheme and the problems solved in the implementation on JRB-1 robot are discribed. An adaptive gain is suggested to stabilize the force control loop. In addition, assembly task specification and an automatic generating method for assembly strategy are given out’更多还原