For the installation of large and heavy components in spacecraft, a set of methods of compliant robotic assembly based on force/position hybrid control are given. Based on the direction of interface force and the tool coordinate system of robot, the Cartesian coordinate for hybrid force/position control can be computed. The "S" -type curve between robot speed and force is designed to avoid the jitter of robot during force control. For the force control of free space and pin oriented assembly respectively, force/position hybrid control strategies are given. In order to release the force between the separation interfaces when the robot load is changed, the mass characteristics of robot load in different assembly stages are measured in advance, and the mass characteristic parameter is switched before interface separation to compensate the load gravity, then compliance control is used to release the interface force. The experimental results show that the workpiece can stably conform to the external constraints in the installation, and reach the required position, in the interface separation stage, the interface force can be released effectively, and the security separation can be realized.
HU Ruiqin
,
ZHANG Lijian
,
MENG Shaohua
,
DONG Que
,
LONG Changyu
. Robotic Assembly Technology for Heavy Component of Spacecraft Based on Compliance Control[J]. Journal of Mechanical Engineering, 2018
, 54(11)
: 85
-93
.
DOI: 10.3901/JME.2018.11.085
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