Abstract
Satellites are usually produced in one piece or in small batches, the assembly operation is not repetitive. In order to apply industrial robots to satellite assembly, robot technology under visual guidance and force feedback control was studied, so that the robot can adapt to different working conditions in satellite assembly. In this paper, a satellite assembly scheme based on robot is presented, auxiliary pins are installed on the mounting holes, the robot conveys the component to the tapered guide area of the pins under visual guidance, then the force feedback control is applied to the robot, the component is accurately installed under the pin guidance. Infrared cameras and “rigid body” consisting of cooperative targets were used in the visual guidance system to measure the target pose. A probe tool was designed and a measurement method was given to achieve convenient measurement of the target point. The force/position hybrid control method is used to achieve compliant pin guidance of robot. The experiment results show that under the visual guidance, the robot can transport the component to the guide range of the pin, and can accurately assemble the component in place under pin guidance and force feedback control. The technology can meet the engineering implementation requirements for satellite component assembly.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fang, S., Huang, X., Chen, H., et al.: Dual-arm robot assembly system for 3C product based on vision guidance. In: IEEE International Conference on Robotics and Biomimetics, pp. 807–812. IEEE (2017)
Gu, J., Wang, H., Chen, W., et al.: Monocular visual object-localization using natural corners for assembly tasks. In: IEEE International Conference on Robotics and Biomimetics, pp. 1383–1388. IEEE (2017)
Chang, W.C.: Robotic assembly of smartphone back shells with eye-in-hand visual servoing. Robot. Comput. Integr. Manuf. 50, 102–113 (2018)
Turan, M., Almalioglu, Y., Konukoglu, E., et al.: A deep learning based 6 degree-of-freedom localization method for endoscopic capsule robots (2017). arXiv preprint arXiv:1705.05435
Lin, C.Y., Son, L.T., Chang, Y.L., et al.: Image-sensor-based fast industrial-robot positioning system for assembly implementation. Sens. Mater. 29(7), 935–945 (2017)
Xu, D., Lu, J., Wang, P., et al.: Partially decoupled image-based visual servoing using different sensitive features. IEEE Trans. Syst. Man and Cybern. Syst. 47(8), 2233–2243 (2017)
Lippiello, V., Cacace, J., Santamaria-Navarro, A., et al.: Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robot. Autom. Lett. 1(1), 259–266 (2017)
Feng, K., Zhang, X., Li, H., et al.: A dual-camera assisted method of the SCARA robot for online assembly of cellphone batteries. In: International Conference on Intelligent Robotics and Applications, pp. 576–587. Springer, Cham (2017)
Wan, W., Lu, F., Wu, Z., et al.: Teaching robots to do object assembly using multi-modal 3d vision. Neurocomputing 259, 85–93 (2017)
Hongan, N.: Impedance control an approach to manipulation: ‘part I-theory, part II-implementation, part III-application. J. Dyn. Syst. Meas. Control 107, 1–24 (1985)
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. IEEE J. Robot. Autom. 2(2), 83–105 (1986)
Focchi, M., Medrano-Cerda, G.A., Boaventura, T., et al.: Robot impedance control and passivity analysis with inner torque and velocity feedback loops. Control Theory Technol. 14(2), 97–112 (2016)
Raibert, M.H., Craig, J.J.: Hybrid position/force control of manipulators. J. Dyn. Syst. Meas. Control 103(2), 126–133 (1980)
Cheng, G., Wang, Y., Jia, Q., et al.: Hybrid force and position control strategy of robonaut performing peg-in-hole assembly task. Yuhang Xuebao J. Astronaut. 38(4), 410–419 (2017)
Chaudhary, H., Panwar, V., Prasad, R., et al.: Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator. J. Intell. Manuf. 27(6), 1299–1308 (2016)
Chang, J., Wang, Y., Li, B.: Accurate operation control method based on hybrid force/position algorithm for 7-DOF manipulator. Robot 38(5), 531–539 (2016)
Condurache, D., Burlacu, A.: Orthogonal dual tensor method for solving the AX = XB sensor calibration problem. Mech. Mach. Theory 104, 382–404 (2016)
Hu, R., Zhang, L., Meng, S., et al.: Robotic assembly technology for heavy component of spacecraft based on compliance control. J. Mech. Eng. http://kns.cnki.net/kcms/detail/11.2187.TH.20180330.1335.030.html
Acknowledgments
This work is supported by National High-tech R&D Program of China (863 Program) (Grant No. 2015AA043101) and National Natural Science Foundation of China (Grant No. 51705023).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Hu, Rq., Long, Cy., Zhang, Lj. (2019). Satellite Assembly Technology by Robot Under Visual Guidance and Force Feedback Control. In: Deng, K., Yu, Z., Patnaik, S., Wang, J. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2018. Advances in Intelligent Systems and Computing, vol 856. Springer, Cham. https://doi.org/10.1007/978-3-030-00214-5_82
Download citation
DOI: https://doi.org/10.1007/978-3-030-00214-5_82
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00213-8
Online ISBN: 978-3-030-00214-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)