针对一种用于壁板类部件的机器人自动钻铆系统，对工业机器人协同运动控制技术进行了研究，提出了用于工业机器人协同的控制方法，并给出了关键技术的实现方式。此项研究的控制方法也可扩展应用于基于工业机器人平台的多种自动化柔性装配系统。%Aimed at a robot automatic drilling and riveting system used for panel component of aircraft, the control technology of industrial robot cooperative mo-tion are researched, a method for industrial robot coopera-tion is proposed and the achievement of key technology is given. The control method can be applied to many auto-matic flexible assembly system based on industrial robot platform.
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