摘要
针对机器人卫星装配阶段舱板与主框架装配精度低、装配干涉力过大的问题,提出了一种融合视觉与力觉的卫星装配误差在线测量与补偿方法。利用视觉检测装置建立卫星舱板与主框架装配误差在线测量系统,并完成了双目标定、机器人手眼标定、其他部件相对位姿的标定,提出了卫星舱板与主框架装配误差补偿控制方法,实现了装配误差实时测量与精确补偿;同时,通过力觉检测装置完成了机器人末端负载辨识与重力补偿,实时测量卫星舱板与主框架装配干涉力,实现了卫星柔性装配。试验结果表明,采用融合视觉与力觉的卫星装配误差在线测量与补偿方法后,卫星舱板与主框架装配误差控制在0.2 mm以内,装配干涉力小于50 N,满足了卫星装配的精度需求,证明本文所提方法的有效性和稳定性。
Aiming at the problems of low assembly accuracy and large assembly interference force of the deck and main frame during the robot satellite assembly stage,an online measurement and compensation method of satellite assembly error combining vision and force perception is proposed.An online measurement system for the assembly error of the satellite deck and the main frame is established by using the visual inspection device.The binocular calibration,robot hand-eye calibration,and relative pose calibration of other components have been completed.A method for compensating the assembly error of the satellite deck and main frame is proposed.The real-time measurement and accurate compensation of assembly error are realized.The robot terminal load identification and gravity compensation are completed by force sensing device.The interference force between the satellite deck and the main frame assembly is measured in real-time,and the satelliteflexible assembly is realized.The experimental results show that the assembly error of the deck and main frame is controlled within 0.2 mm and the assembly interference force is less than 50 N after the online measurement and compensation of the satellite assembly error with the fusion of vision and force perception is adopted.It meets the precision requirements of satellite assembly,and proves the effectiveness and stability of the proposed method.
作者
李鹏程
张奇
张大为
王忠康
叶昶君
刘峰
田威
LI Pengcheng;ZHANG Qi;ZHANG Dawei;WANG Zhongkang;YE Changjun;LIU Feng;TIAN Wei(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;China Academy of Space Technology,Beijing 100081,China;CASIC Space Engineering Development Co.,Ltd.,Beijing 100854,China)
出处
《航空制造技术》
CSCD
北大核心
2023年第7期57-66,共10页
Aeronautical Manufacturing Technology
基金
江苏省自然科学基金(BK20210299)
国家自然科学基金(52205530)
民用航天项目(D020201)。
关键词
卫星装配
在线测量
视觉检测
手眼标定
力觉检测
多机器人
Satellite assembly
Online measurement
Visual inspection
Hand-eye calibration
Force inspection
Multi-robot
