A simulation approach for determining maximal control cycle time in force-compliant assembly under contact force/torque constraints

Determining the maximum force feedback control cycle time for an assembly task at a given force/torque threshold is an important basis for designing and evaluating the corresponding force-compliant assembly method. For this issue, this paper proposes a simulation method for determining the maximum force feedback cycle time. The feasible region of the assembly process pose is determined by Monte Carlo simulation. Based on the particle swarm optimization, the pose and motion direction that generate the maximum contact force are found in the feasible region. Finally, dynamic simulation is carried out to determine the maximum force feedback control cycle. Experiments carried out for single-hole assembly show that the proposed approach can effectively determine the maximum force feedback control cycle time, and has a comparative advantage in convergence and total time consumption.