Assembly Guidance Method Based Six-axis Force Perception

In the field of intelligent assembly, it is often necessary to assemble workpieces without precise position relationship. For some workpieces with special position relationship, it is difficult to achieve accurate relative position measurement by machine vision. A good solution is provided by the way of force sensing guidance. According to the direction of the workpiece in the assembly process, the position deviation can be judged and the guidance can be corrected in real time, so the intelligent assembly can be realized. In this paper, an intelligent assembly method based on six dimensional force sensing guidance is designed, and the gravity compensation and solution method are designed.