多表面导纳控制方法在航天制造中大型零件机器人装配中的应用

Sebastian Rendon Fernandez, A. Olabi, O. Gibaru
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引用次数: 0

摘要

装配作业的机器人化是飞机制造商的要求之一。在大型零件装配过程中,必须控制零件之间的接触力。超过某些限制可能会损坏飞机部件。这可能是因为工业机器人的精度差,零件的位置和方向不确定。本文提出了一种考虑装配过程中零件间接触力的机器人末端执行器运动控制的新方法。该方法可用于复杂形状和大型零件的装配。在导纳控制的基础上,采用该方法保证了多面接触。它可以控制每个接触面上的相互作用力。每个接触都由质量-弹簧-阻尼系统建模。这种方法在两个大型飞机部件的装配上进行了测试,使用的是配备了力/扭矩(F/T)传感器的库卡机器人(KR340)。将多表面导纳控制与单表面导纳控制的性能进行了比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multi-Surface Admittance Control Approach applied on Robotic Assembly of Large-Scale parts in Aerospace Manufacturing
The robotization of assembly operations is one of the requests of aircraft manufacturers. During the assembly of large-scale sub-assemblies, contact forces between parts must be controlled. Exceeding some limits can damage the aircraft parts. This can happen because of the poor accuracy of industrial robots and uncertainties of parts' positions, and orientations. This paper proposes a new approach to control the movement of the robot end-effector, taking into account the contact forces between the parts during assembly. The suggested approach can be used to assemble complex shape and large-scale parts. Based on the admittance control, the proposed approach is used to ensure multi-surface contact. It allows to control the interaction forces at each contact surface. Each contact is modeled by a mass-spring-damper system. This approach was tested on the assembly of two large-scale airplane's parts using a KUKA robot (KR340), equipped with a Force/Torque (F/T) sensor. The performance of this multi-surface approach was compared to one surface admittance control.
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