To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.展开更多
This paper presents a novel method for learning force-aware robot assembly skills,specifically targeting the peg insertion task on inclined hole.For the peg insertion task involving inclined holes,we employ one-dimens...This paper presents a novel method for learning force-aware robot assembly skills,specifically targeting the peg insertion task on inclined hole.For the peg insertion task involving inclined holes,we employ one-dimensional convolutional networks(1DCNN)and gated recurrent units(GRU)to extract features from the time-series force information during the assembly process,thereby identifying different contact states between the peg and the hole.Subsequent to the identification of contact states,corresponding pose adjustments are executed,and overall smooth interaction is ensured through admittance control.The assembly process is dynamically adjusted using a state machine to fine-tune admittance control parameters and seamlessly switch the assembly state.Through the utilization of dual-arm clamping,we conduct key unlocking experiments on bases inclined at varying degrees.Our results demonstrate that the proposed method significantly improves the accuracy and success rate of state recognition compared to previous methods.展开更多
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
基金supported by the National Key R&D Program of China(2022YFB4701502)the“Leading Goose”R&D Program of Zhejiang(2023C01177)the 2035 Key Technological Innovation Program of Ningbo City(2024Z300).
文摘This paper presents a novel method for learning force-aware robot assembly skills,specifically targeting the peg insertion task on inclined hole.For the peg insertion task involving inclined holes,we employ one-dimensional convolutional networks(1DCNN)and gated recurrent units(GRU)to extract features from the time-series force information during the assembly process,thereby identifying different contact states between the peg and the hole.Subsequent to the identification of contact states,corresponding pose adjustments are executed,and overall smooth interaction is ensured through admittance control.The assembly process is dynamically adjusted using a state machine to fine-tune admittance control parameters and seamlessly switch the assembly state.Through the utilization of dual-arm clamping,we conduct key unlocking experiments on bases inclined at varying degrees.Our results demonstrate that the proposed method significantly improves the accuracy and success rate of state recognition compared to previous methods.
