基于自适应柔顺控制的航天器部件装配  

Assembly of spacecraft components based on adaptive compliance control

作　　者：陈书清 李铁民[1] CHEN Shuqin;LI Tiemin(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《清华大学学报（自然科学版）》2023年第11期1808-1819,共12页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金面上项目(52175017)。

摘　　要：利用机器人技术完成航天器部件的装配任务,是中国航天领域的研究重点。仅依靠位置控制完成装配任务时,装配误差的存在会导致航天器部件存在较大的接触力,从而破坏航天器部件的表面质量和表面涂层,进而影响航天器部件的服役寿命。因此,在装配过程中需要使用柔顺控制来调控接触力。目前,在机器人装配中应用的柔顺控制方法需要依据经验设定控制参数,而2个装配体之间的接触力与控制参数密切相关,这会导致接触力不可控。为避免接触力过大,该文提出了一种柔顺控制方法,通过装配过程中的接触力和状态信息,根据不同环境刚度自适应地调整柔顺控制的目标位置和控制参数。为了验证此方法的可行性,该文进行了仿真和实验研究,并与位置控制和经典的导纳控制进行比较,实验结果表明:该文提出的方法具有收敛速度快、残余接触力小、可自动调节控制参数等优势。该方法为航天器部件的机器人自主装配奠定了理论和技术的基础,并有望应用于实际航天器部件装配任务中。[Objective]The assembly of spacecraft components plays an important role in their production,and the quality and efficiency of assembly have a direct impact on the quality and efficiency of their production.Currently,spacecraft components are often constructed by hand,which results in low accuracy and efficiency.The aerospace industry's research focus is on utilizing robots to complete the assembly tasks of spacecraft components,which can improve the quality and efficiency of their production.The current assembly robots mostly use the position control mode,which measures the relative pose between the assembly features of two spacecraft components and then moves the robot to complete the robotic assembly tasks according to the measurement results.In this control mode,assembly errors are unavoidable due to measurement and robot motion errors,which will result in a huge contact force between the two contact surfaces of the spacecraft components.Excessive contact forces can damage the surface quality and coatings of spacecraft components,ultimately affecting their service lives.Therefore,the contact forces are required to be controlled by compliance control.The control parameters in the current study of compliance control are established based on the operator's experience,which is closely related to the contact forces.Because the spacecraft components are manufactured in small batches,pre-assembly cannot be used to determine the control parameters without damaging their surface quality and coatings.And improper control parameters can lead to uncontrolled contact forces.[Methods]To address this issue,a compliance control method is proposed in this paper based on the classical admittance control,which can adaptively adjust the control parameters according to the contact forces and system status.In this adaptive compliance control,the target pose and stiffness matrix are changed during the assembly process.This research examines the control effects of adaptive compliance,position,and classical admittance controls to val

关 键 词：自适应柔顺控制 航天器部件 机器人装配 接触力 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]