基于柔顺控制的航天器大部件机器人装配技术
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摘要
针对航天器大部件装配需求,给出一套基于力/位控制的机器人柔顺装配方法。基于装配界面作用力方向及机器人工具坐标系方向,实时计算用于力/位控制的笛卡尔坐标系。为避免力控制过程中的机器人抖动,设计了力与机器人速度的"S"型关系曲线。针对自由空间力控制、销钉导向等典型应用需求给出了力/位控制策略。针对机器人负载发生变化情况下的界面分离问题,对机器人在装配不同阶段下负载的质量特性进行预先测量,在界面分离时进行负载质量特性参数的切换,实现对应负载的重力补偿,并采用柔顺控制方法释放待分离界面的作用力,最终实现界面安全分离。试验结果表明,采用所设计的力/位控制方法,在工件安装的各主要过程中,工件可以稳定顺应外部约束,最终安装到位,在界面分离阶段,所述方法可以有效释放界面作用力,实现界面安全分离。
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.
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.
引文
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[21]POLVERINI M P,ROSSI R,MORANDI G,et al.Performance improvement of implicit integral robot force control through constraint-based optimization[C]//Intelligent Robots and Systems(IROS),2016 IEEE/RSJ International Conference on.IEEE,2016:3368-3373.
[2]LEE S.Development of a new variable remote center compliance(VRCC)with modified elastomer shear pad(ESP)for robot assembly[J].IEEE Transactions on Automation Science and Engineering,2005,2(2):193-197.
[3]SADEGHIAN H,VILLANI L,KESHMIRI M,et al.Task-space control of robot manipulators with null-space compliance[J].IEEE Transactions on Robotics,2014,30(2):493-506.
[4]LOSKE J,BIESENBACH R.Force-torque sensor integration in industrial robot control[C]//Research and Education in Mechatronics(REM),2014 15th International Workshop on.IEEE,2014:1-5.
[5]DAI F,WAHRBURG A,MATTHIAS B,et al.Robot assembly skills based on compliant motion[C]//ISR 2016:47st International Symposium on Robotics;Proceedings of.VDE,2016:1-6.
[6]姚建涛,崔朋肖,朱佳龙,等.预紧式并联六维力传感器容错测量机理与标定测试研究[J].机械工程学报,2016,52(8):58-66.YAO Jiantao,CUI Pengxiao,ZHU Jialong,et al.Fault-tolerant measurement mechanism and calibration experimental study of pre-stressed parallel six-axis force sensor[J].Journal of Mechanical Engineering,2016,52(8):58-66.
[7]SHETTY B R,ANG Jr M H.Active compliance control of a PUMA 560 robot[C]//1996 IEEE International Conference on Robotics and Automation.Minneapolis,Minnesota,USA,1996,4:3720-3725.
[8]张立建,胡瑞钦,易旺民.基于六维力传感器的工业机器人末端负载受力感知研究[J].自动化学报,2017,43(3):439-447.ZHANG Lijian,HU Ruiqin,YI Wangmin.Research on force sensing for the end-load of industrial robot based on a 6-axis force/torque sensor[J].Acta Automatica Sinica,2017,43(3):439-447.
[9]HONGAN N.Impedance control an approach to manipulation:’Part Ⅰ-theory,Part Ⅱ-implementation,Part Ⅲ-Applcation[J].J.Dyn.Sys.Meas.Cont.,1985:1-24.
[10]KAZEROONI H,HOUPT P K,SHERIDAN T B.Robust compliant motion for manipulators.Part Ⅰ:The fundamental concepts of compliant motion.part ii:Design methods[J].IEEE J.Robotic Automat,1986,RA-2(2):83-105.
[11]FOCCHI M,MEDRANO C G A,BOAVENTURA T,et al.Robot impedance control and passivity analysis with inner torque and velocity feedback loops[J].Control Theory and Technology,2016,14(2):97-112.
[12]RAIBERT M H,CRAIG J J.Hybrid position/force control of manipulators[J].Journal of Dynamic Systems Measurement and Control,1980,103(2):126-133.
[13]陈钢,王玉琦,贾庆轩,等.机器航天员轴孔装配过程中的力位混合控制方法[J].宇航学报,2017,38(4):410-419.CHEN Gang,WANG Yuqi,JIA Qingxuan,et al.Hybrid force and position control strategy of robonaut performing peg-in-hole assembly task[J].Journal of Astronautics,2017,38(4):410-419.
[14]CHAUDHARY H,PANWAR V,PRASAD R,et al.Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator[J].Journal of Intelligent Manufacturing,2016,27(6):1299-1308.
[15]肖丽芳.基于光纤力传感器的机器人针穿刺阻抗控制研究[D].北京:北京交通大学,2017.XIAO Lifang.Research on impedance control of robotic needle insertion with a fiber optic force sensor[D].Beijing:Beijing Jiaotong University,2017.
[16]KIM S,KIM J P,RYU J.Adaptive energy-bounding approach for robustly stable interaction control of impedance-controlled industrial robot with uncertain environments[J].IEEE/ASME Transactions on Mechatronics,2014,19(4):1195-1205.
[17]常健,王亚珍,李斌.基于力/位混合算法的7自由度机器人精细操控方法[J].机器人,2016,38(5):531-539.CHANG Jian,WANG Yazhen,LI Bin.Accurate operation control method based on hybrid force/position algorithm for 7-DOF manipulator[J].Robot,2016,38(5):531-539.
[18]NIKOLEIZIG S,VICK A,KRUGER J.Compensating human feedback oscillation in compliance control for industrial robots[C]//International Conference on Control,Automation and Robotics.2017:221-224.
[19]张永贵,刘晨荣,刘鹏.6R工业机器人刚度分析[J].机械设计与制造,2015(2):257-260.ZHANG Yonggui,LIU Chenrong,LIU Peng.6R industrial robot stiffness analysis[J].Machinery Design&Manufacture,2015(2):257-260.
[20]KROGER T,KUBUS D,WAHL F M.6D force and acceleration sensor fusion for compliant manipulation control[C]//Intelligent Robots and Systems,2006IEEE/RSJ International Conference on.IEEE,2006:2626-2631.
[21]POLVERINI M P,ROSSI R,MORANDI G,et al.Performance improvement of implicit integral robot force control through constraint-based optimization[C]//Intelligent Robots and Systems(IROS),2016 IEEE/RSJ International Conference on.IEEE,2016:3368-3373.