孟少华, 胡瑞钦, 张立建, 董悫. 一种基于机器人的航天器大型部件自主装配方法[J]. 机器人, 2018, 40(1): 81-88,101. DOI: 10.13973/j.cnki.robot.170216
引用本文: 孟少华, 胡瑞钦, 张立建, 董悫. 一种基于机器人的航天器大型部件自主装配方法[J]. 机器人, 2018, 40(1): 81-88,101. DOI: 10.13973/j.cnki.robot.170216
MENG Shaohua, HU Ruiqin, ZHANG Lijian, DONG Que. A Method of Autonomous Assembly of Large Spacecraft Components Using Robot[J]. ROBOT, 2018, 40(1): 81-88,101. DOI: 10.13973/j.cnki.robot.170216
Citation: MENG Shaohua, HU Ruiqin, ZHANG Lijian, DONG Que. A Method of Autonomous Assembly of Large Spacecraft Components Using Robot[J]. ROBOT, 2018, 40(1): 81-88,101. DOI: 10.13973/j.cnki.robot.170216

一种基于机器人的航天器大型部件自主装配方法

A Method of Autonomous Assembly of Large Spacecraft Components Using Robot

  • 摘要: 航天器大型部件在狭小空间中装配存在着视野受限、目标位置不可见等问题,传统的吊装方法无法精确调整位姿、磕碰风险极高.本文提出一种基于双目视觉定位的机器人辅助装配路径规划方法.该方法以航天器、待安装部件以及机器人等装配要素的3维模型为基础,采用双目视觉系统对航天器上安装位置的几何特征进行精确定位.利用测量结果确定机器人和航天器之间的相对位姿关系,进而构建航天器装配现场的虚拟环境,识别装配过程中的几何约束,然后利用轴对齐包围盒方法进行碰撞检测,采用随机路图法规划出一条无干涉的装配路径,最后利用离线编程技术生成机器人可执行的装配序列.以某型号航天器激光测高仪为对象开展装配试验,完成了大型部件在狭小凹舱内的无磕碰安装.结果表明该方法可以实现对螺纹孔精准定位,快速规划出无干涉装配路径,能够控制机器人安全、高效完成大型部件在狭小空间下的安装作业.

     

    Abstract: When the large components of a spacecraft are installed in a narrow space, there are some problems such as a limited visual field and an invisible target position. The traditional hoisting approach can't accurately adjust the position and attitude of the component, and is prone to cause collision. A path planning method for robot assisted assembly using binocular vision localization is proposed. The binocular vision system is employed to precisely localize the geometric features of installation positions on the spacecraft, based on the 3D model of assembly elements such as the spacecraft, components to be installed and the robot. The relative position and attitude relationship between the robot and the spacecraft can be computed using the measured results, so as to construct the virtual environment of the spacecraft assembly scenes. In the virtual environment, geometric constraints in the assembly process are recognized and a collision detection is implemented using the axis-aligned bounding box (AABB) method. After that, the probabilistic roadmap method is adopted to generate a collision-free path, and then executable assembly sequences for robot are produced through off-line programming. An assembly experiment is carried out for a laser altimeter instrument of a spacecraft. The installation of the large component is completed in a narrow concave cabin without collision. Results show that the proposed method can localize the precise position of thread holes, rapidly generate a collision-free assembly path, and control the robot to safely and efficiently accomplish large component installations in the narrow space of a spacecraft.

     

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