TY - GEN
T1 - Key Technologies and Applications of Robotic Dual-Axis Hole Assembly for Satellite Components
AU - Wen, Ke
AU - Mao, Yanxi
AU - He, Yuqing
AU - Sun, Qichen
AU - Wang, Yunpeng
AU - Xu, Jianping
AU - Pan, Yang
N1 - Publisher Copyright:
© 2023 ACM.
PY - 2023/8/25
Y1 - 2023/8/25
N2 - In order to complete the automatic assembly task of satellite components and ensure the consistency of assembly, the key technologies and applications of satellite component robotic dual-axis hole assembly are studied. In the dual-axis hole assembly scenario, an automatic grasping and gravity calibration model of the robot end is proposed. According to the least square method and the measured force sensor data in multiple poses, the zero point calibration of the robot end is realized. At the level of compliance control, a physical model is established and deduced. Taking the conductance control principle of admittance control as a reference, the assembly of satellite biaxial hole components based on force control is finally realized. The experimental results show that the gravity calibration method adopted is accurate, and the force curve and dynamic compensation value measured on this basis are in line with the model principle, and the ideal assembly effect has been achieved. It provides engineering reference for the dual-axis hole assembly in the field of manipulator control, and has high application value.
AB - In order to complete the automatic assembly task of satellite components and ensure the consistency of assembly, the key technologies and applications of satellite component robotic dual-axis hole assembly are studied. In the dual-axis hole assembly scenario, an automatic grasping and gravity calibration model of the robot end is proposed. According to the least square method and the measured force sensor data in multiple poses, the zero point calibration of the robot end is realized. At the level of compliance control, a physical model is established and deduced. Taking the conductance control principle of admittance control as a reference, the assembly of satellite biaxial hole components based on force control is finally realized. The experimental results show that the gravity calibration method adopted is accurate, and the force curve and dynamic compensation value measured on this basis are in line with the model principle, and the ideal assembly effect has been achieved. It provides engineering reference for the dual-axis hole assembly in the field of manipulator control, and has high application value.
KW - dual-axis hole assembly
KW - impedance control
KW - robot
KW - satellite components
KW - zero-point calibration
UR - http://www.scopus.com/inward/record.url?scp=85181399969&partnerID=8YFLogxK
U2 - 10.1145/3627341.3630367
DO - 10.1145/3627341.3630367
M3 - Conference contribution
AN - SCOPUS:85181399969
T3 - ACM International Conference Proceeding Series
BT - Proceedings of 2023 International Conference on Computer, Vision and Intelligent Technology, ICCVIT 2023
PB - Association for Computing Machinery
T2 - 2023 International Conference on Computer, Vision and Intelligent Technology, ICCVIT 2023
Y2 - 25 August 2023 through 28 August 2023
ER -