摘要
卫星面板体积与质量大,装配精度要求高,现有通过吊装-人工协调装配,调姿效率低,精度差,易发生碰撞,难以保证装配效率与精度。通过在机器人末端安装六维力传感器,实时检测末段工具重力和外部引导力、力矩,基于逆运动学求解,提出外部随机牵引力作用下重载机器人的重力随动补偿策略。采集机器人多个姿态下的数据,设计400组设计重力补偿实验,结果表明空载状况下重力补偿整体误差波动均值不超过±0.2,方差波动不明显;设计可阶段变化的力控参数,通过对比实验优化,能够让力和位移产生阶段变化,力的阈值控制在50N附近。实验结果表明,重载机器人力控策略可以实现人工引导装配下的重型卫星面板装配位姿快速响应与对接精度保证。
Satellite panels are large in volume and heavy,requiring high assembly accuracy.The existing assembly process of hoisting-manual coordination has low attitude adjustment efficiency,poor accuracy anda tendency for collisions.In this paper,a six-dimensional force sensor is installed at the end of the robot to detect gravity of the end tool and the external guiding force and torque in real time.Based on inverse kinematics,a gravity servo compensation strategy is proposed for a heavy-duty robot under the action of external random traction.With the collection of data in multiple poses of the robot,400 sets of designed gravity compensation experiments were designed.The results show that the average value of the overall error of gravity compensation fluctuates within±0.2 under noload conditions,and the fluctuation of variance is not obvious.The force control parameters that can be changed in stages are designed.Through comparison and experiment optimization,the force and displacement can be changed in stages,and the force threshold is around 50N.The experimental results show that the heavy-duty robot force control strategy proposed in this paper can realize the rapid response of the heavy satellite panel assembly pose and the accuracy of docking under manually guided assembly.
作者
段宇飞
莫威
刘顺
张继昌
时轮
金永乔
DUAN Yufei;MO Wei;LIU Shun;ZHANG Jichang;SHI Lun;JIN Yongqiao(School of Mechanicaland Power Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai SmartStateTechnology Co.,Ltd.,Shanghai 201306,China;Shanghai Hanghe Intelligent Technology Co.,Ltd.,Shanghai 200240,china)
出处
《机械设计与研究》
CSCD
北大核心
2022年第3期88-92,108,共6页
Machine Design And Research
基金
上海市人工智能创新发展专项(2019-RGZN-01026)
上海市产业协同创新项目(JMRHCY-2020-037)。
关键词
航天仪器
重载机器人
力引导控制
自动化装配
aerospace instruments
heavy-duty robot
forceguided control
automated assembly
