A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

Zhang, Li Jian; Hu, Rui; Wang, Yi; Fu, Hao; Tang, Lai Ying

doi:10.4028/www.scientific.net/amm.681.79

Cited by 7 publications

(5 citation statements)

References 4 publications

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“…High-accurate force control is strongly required in many robotic applications [9] where force overshoots might compromise the task execution. Since the milestones impedance control [10] has been particularly effective in order to interact with compliant environments.…”

Section: Force-control For Installation Applicationsmentioning

confidence: 99%

Human-Robot Cooperative Interaction Control for the Installation of Heavy and Bulky Components

Roveda

Castaman

Ghidoni

et al. 2018

2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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The paper describes a human-robot cooperative installation methodology of heavy and bulky components based on marker-based visual servoing, force control, and human-robot cooperation. The main advance in the human-robot cooperation is achieved by a shared-control of the interaction during the installation task, relieving the human operator by the manipulated load and giving to the robot a partially autonomous behaviour in the force-tracking direction. Experimental results are shown in the context of the H2020 CleanSky 2 EURECA project in which a side-wall panel is installed in a 1:1 scale mock-up scenario of an A320 plane fuselage environment.

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Section: Force-control For Installation Applicationsmentioning

confidence: 99%

Human-Robot Cooperative Interaction Control for the Installation of Heavy and Bulky Components

Roveda

Castaman

Ghidoni

et al. 2018

2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…Considering a single DoF (as the impedance control allows to decouple the Cartesian DoF) and substituting the impedance control set-point x 0 r as defined by equation (6) and the interacting environment dynamics as defined by equation (1) in equation 5, the closed-loop dynamics results as…”

Section: Closed-loop Dynamicsmentioning

confidence: 99%

“…Highly accurate force control is strongly required in many robotic applications. [1][2][3][4][5][6] Force overshoots might compromise the task execution, resulting in task failures and the production of waste.…”

Section: Introductionmentioning

confidence: 99%

Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks

Roveda¹,

Pedrocchi²,

Tosatti

2016

International Journal of Advanced Robotic Systems

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The aim of the presented article is to overcome the force overshoot issue in impedance based force tracking applications. Nowadays, lightweight manipulators are involved in high-accurate force control applications (such as polishing tasks), where the force overshoot issue is critical (i.e. damaging the component causing a production waste), exploiting the impedance control. Two main force tracking impedance control approaches are described in literature: (a) set-point deformation and (b) variable stiffness approaches. However, no contributions are directly related to the force overshoot issue. The presented article extends both such methodologies to analytically achieve the force overshoots avoidance in interaction tasks based on the on-line estimation of the interacting environment stiffness (available through an EKF). Both the proposed control algorithms allow to achieve a linear closed-loop dynamics for the coupled robot-environment system. Therefore, control gains can be analytically on-line calculated to achieve an over-damped closed-loop dynamics of the controlled coupled system. Control strategies have been validated in experiments, involving a KUKA LWR 4þ. A probing task has been performed, representative of many industrial tasks (e.g. assembly tasks), in which a main force task direction is defined.

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“…Assembly is the final procedure of spacecraft production, and its accuracy and efficiency directly affect the service performance and lead time of the spacecraft. At present, manual assembly is still a primary way to assemble spacecraft, in which primitive measurement and handling tools are utilized by workers to complete the assembly task [1]. Assembly tasks that utilize this method suffer from low accuracy, low efficiency, and uncontrollable risk due to a lack of precise motion control and real-time data feedback [2].…”

Section: Introductionmentioning

confidence: 99%

Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

Chen

Jiang

2022

Int J Adv Manuf Technol

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To assemble spacecraft automatically and precisely, it is vital to measure the relative spatial pose (position and orientation) of the assembly features of the spacecraft components before assembly. For large-scale spacecraft components, the global measurement method is mainly utilized to guide assembly control, and its accuracy and efficiency have ultimately failed to meet requirements. To address this issue, a novel measurement method is proposed. Since the goal is to measure the relative spatial pose of the assembly features of the spacecraft components, the proposed method measures it directly to ensure the consistency of the measurement and assembly coordinate system. This method has the advantage of high precision because it can reduce the influence of structural parameter errors and is not limited by the scale of the spacecraft components.In addition, it requires only one offline calibration, which significantly improves the efficiency of online measurement and assembly. Taking the control moment gyroscope (CMG) assembly task as an example, a measurement system and its corresponding calibration device are designed and developed. After calibration by the calibration device, the measurement system is mounted on the assembly features of the CMG to measure the relative spatial pose between the assembly features of the CMG and the assembly features of the mounted base (MB). Finally, six assembly experiments are completed according to the measurement results. The experimental results show that this method has high accuracy and can guide the robot to achieve high assembly accuracy, satisfying the assembly requirements of typical spacecraft components.

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A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

Cited by 7 publications

References 4 publications

Human-Robot Cooperative Interaction Control for the Installation of Heavy and Bulky Components

Human-Robot Cooperative Interaction Control for the Installation of Heavy and Bulky Components

Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks

Pose measurement and assembly of spacecraft components based on assembly features and a consistent coordinate system

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