视觉与力觉结合的卫星部件机器人装配

Robotic assembly technology for satellite components based on visual and force information

针对卫星特殊部件的装配需求,为了使机器人具有适用不同工况的柔性并在卫星多变的装配工况中获得较高的应用效率,本文研究视觉引导与力反馈控制下的机器人装配技术,给出一种视觉与力觉结合的机器人装配方案:在装配孔位安装辅助销钉,通过视觉引导将部件引导至销钉的锥面导向范围内,而后在销钉导向下对机器人采用力反馈控制,实现工件的准确装配到位。采用红外相机结合合作靶标的方式实现稳定地视觉识别与目标定位,设计了探针式测量工具,并给出测量方法,实现了目标点位的柔性便捷测量。给出了一种已知空间对应点对条件下,求位姿变换矩阵及机器人目标位姿的计算方法。采用力/位混合控制方法实现柔顺销钉导向控制。实验结果表明:装配对应孔位的测量匹配误差在2.9 mm以内,机器人在视觉引导下,可以将工件运送至销钉的导向范围内,并在销钉导向及力反馈控制下将工件准确装配到位,力控制阈值为30 N。证明了本文所采用的技术可以满足卫星部件装配的工程实施要求。

For the assembly requirements of special satellite components,robot assembly technology based on visual guidance and force feedback control was studied.This technology gives the robot flexibility under different working conditions and offers high application efficiency under variable satellite assembly conditions.A robot assembly scheme that combines visual and force information was presented.Auxiliary pins were installed in mounting holes,a component was guided to the taper area of the pin by the robot using a visual guide,and a force feedback control was applied to the robot.The component was then accurately positioned based on the pin guidance.Infrared cameras and cooperative targets were used to achieve stable visual recognition and target positioning.A probe-type measurement tool was designed and measurement methods were developed to achieve flexible and convenient measurements of target points.A method for calculating the pose transformation matrix and target position of a robot was proposed based on known spatial correspondence point pairs and was used to achieve compliant pin guidance control.Experimental results show that the measurement matching error of the corresponding hole was within 2.9 mm.The robot can convey the component to the pin's guiding range through visual guidance,and the component can be accurately assembled in place through pin guidance and force feedback control.The force control threshold was determined to be 30 N.This technology can meet the engineering implementation requirements for satellite component assembly.