[Abstract]Shaft hole assembly is a common operation task in the processing manufacturing industry. Research on automatic assembly of shaft holes based on industrial robots is of great value to the application of robots in the field of assembly. For high-precision and complex-shaped parts, efficient and reliable shaft hole assembly is still very challenging. Based on this, the robot's automatic shaft hole assembly is comprehensively sorted out from the perspective of control. First, the robotic automatic shaft hole assembly process is introduced. Then, based on the discussion of assembly control based on traditional models, the emerging intelligent assembly control based on learning is discussed, focusing on the application of imitation learning and reinforcement learning in robot automatic assembly. The combination of traditional methods and artificial intelligence methods will inject new vitality into automatic robot shaft hole assembly and will become an important development trend in the future.
[Keywords]Shaft hole assembly; intelligent robot; imitation learning; reinforcement learning; skill learning
0 Preface
Shaft hole assembly is a typical and common industrial task among automatic assembly tasks. In the past few decades, automatic assembly has been a challenging research area, and high-performance shaft hole assembly has been a challenging hot issue. For example, in 2019, Xu J and others from Tsinghua University pointed out that it is still challenging to use robots for automatic assembly of multi-axis holes because traditional control strategies require complex analysis of contact models. In 2020, Osaka University Beltran-Hernandez C C and others believed that complex high-precision automatic assembly in an unstructured environment is still a problem to be solved. In 2021, Song J Z of Beijing University of Posts and Telecommunications and others pointed out that the use of robots to assemble parts has long been one of the research hotspots.
At present, industrial robots have been widely used to automatically perform a variety of industrial tasks, such as welding, spraying, packaging, palletizing, etc. A common feature of these tasks is that the robot's motion is position-controlled. However, assembly between parts often involves assembly force, and it is difficult to achieve automatic assembly of parts relying on position control. In addition, the uncertainty of the parts to be assembled also increases the difficulty of automatic robot assembly, such as the uncertainty of end-execution tools, shafts, holes, etc. Therefore, research on automatic assembly of shaft holes based on industrial robots,