College of Information Engineering, Zhejiang University of Technology
Based on the recognition of the contact state, a hole-finding strategy is researched for the operation of the Electric Vehicle Charging Gun (EVCG). A method for identifying the contact state in the EVCG hole-finding process is proposed based on the linear segmentation algorithm of Support Vector Machine (SVM) with contact force as the basic feature. For the end-face contact state, two-point contact state, and three-point contact state, the hole-finding velocity trajectory planning methods of the centripetal force direction, the lateral force direction and the torque direction are respectively given under the coordinate system of the charging gun plug. Furthermore, a hybrid force/position control method is proposed for tracking the Z-direction hole-finding assembly force and the XY plane hole-finding velocity trajectory. Finally, based on the constructed 6-DOF collaborative robot and EVCG and its holder as the experimental platform, the accuracy and effectiveness of the proposed strategy are verified through actual experiments.