【摘要】 介绍了具有力觉功能的机器人微驱动末端操作器与普通工业机器人ＰＵＭＡ５６２组成的机器人宏／微操作系统。该操作系统不仅具备ＰＵＭＡ机器人运动范围大、速度快的优点，而且更具有微操作器工作精度高、频响快的优势。宏／微操作系统在我们开发的轴－孔装配策略的控制下成功地完成了精密装配作业。更多还原

【Abstract】 This paper presents a robot macro/ micro manipulator system that consists of the robot micro drivingend-effector with force sensor and the general robot. This manipulator system not only has the advantagesof large motion and high speed of PUMA robot , but also grasps the micro manipulator’ s high accuracy andhigh response. Controlled by peg-in- hole assembly strategies,macro/ micro manipulator systemaccomplishes assembly successfully.更多还原