CAJ | 학술논문

机器人装配操作是机器人研究与应用的一个重要领域．与机器人焊接、喷涂等作业不同，机器人的装配操作是一种约束运动类操作，因此在规划和控制时必须考虑接触约束和各种不确定性因素的影响．本文对机器人装配操作的规划和控制策略进行了详细的综述，并对一些典型的装配操作任务进行了分析．文末提出了需要进一步深入研究的一些问题．
궤기인장배조작시궤기인연구여응용적일개중요영역．여궤기인한접、분도등작업불동，궤기인적장배조작시일충약속운동류조작，인차재규화화공제시필수고필접촉약속화각충불학정성인소적영향．본문대궤기인장배조작적규화화공제책략진행료상세적종술，병대일사전형적장배조작임무진행료분석．문말제출료수요진일보심입연구적일사문제．
Robotic assembly manipulation (RAM) is an important topic in the field of robotics. Being different from such tasks as welding and painting, RAM is a kind of constrained motion manipulation, which should be planned and controlled under the consideration of contact constraints and various uncertainties. In this paper, the planning and control strategies for RAM are surveyed in detail and some typical cases of RAM are studied. In the end, several important issues to understand the mechanics of RAM are proposed for further study in the future.