High performance assembly of complex structural parts in special environments – research on space manipulator assisted module docking method
Liu Y(刘洋)1; Chen ZY(陈紫渝)2; Gao J(高洁)2; Gan S(甘帅)1; Kang EL(康二龙)2
Source PublicationRobotic Intelligence and Automation
2023
Volume43Issue:2Pages:122-131
Abstract

Purpose

Compared with the robotic manipulation in structured environment, high performance assembly of complex parts in extreme special environment is facing great challenges because of the uncertainty in the environment, and the decline of the control accuracy of the robot and the sensor accuracy. The assembly and construction of the space station is a typical case. An important step in the construction of the space station is the module positioning and docking with the auxiliary of the space manipulator. The operation of the manipulator is faced with many problems, such as low sensing information accuracy, large end position deviation and the requirement of weak impact in the docking process. The purpose of this paper is to design a docking method at the strategy level to effectively solve the problems that may be faced in the docking process.

Design/methodology/approach

Inspired by the research of robotic high-precision compliant assembly, this paper introduces the concept of Attractive Region in Environment (ARIE) into the space manipulator–assisted module docking. The contact configuration space of the docking mechanism and the existence of ARIE are systematically analyzed. The docking strategy based on ARIE framework is proposed, in which the impedance control is used to ensure the weak impact during the docking process.

Findings

For the androgynous peripheral spacecraft docking mechanism, a large range of attractive region exists in the high-dimensional contact configuration space. The docking strategy based on ARIE framework can be designed according to the geometric characteristics of the constraint region and the structural characteristics of the docking mechanism. The virtual models and the simulation environment are established, and the effectiveness of the proposed method is preliminarily verified.

Originality/value

Based on the research results of robotic precision compliant manipulation, in this paper, the theory of ARIE is first systematically applied to the analysis of spacecraft docking problem and the design of docking scheme. The effectiveness of the proposed docking method is preliminarily verified for the requirements of large position tolerance and weak impact. The research results will provide theoretical support and technical reference for the assembly and construction of space station and other space manipulator operations.

KeywordComplex parts assembly Manipulator-assisted docking Attractive region in environment Constraint region analysis
Indexed BySCIE
Language英语
Sub direction classification智能机器人
planning direction of the national heavy laboratory实体人工智能系统决策-控制
Paper associated data
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57218
Collection多模态人工智能系统全国重点实验室_机器人理论与应用
Affiliation1.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China
2.Institute of Automation, Chinese Academy of Sciences, Beijing, China)
Recommended Citation
GB/T 7714
Liu Y(刘洋),Chen ZY(陈紫渝),Gao J(高洁),等. High performance assembly of complex structural parts in special environments – research on space manipulator assisted module docking method[J]. Robotic Intelligence and Automation,2023,43(2):122-131.
APA Liu Y,Chen ZY,Gao J,Gan S,&Kang EL.(2023).High performance assembly of complex structural parts in special environments – research on space manipulator assisted module docking method.Robotic Intelligence and Automation,43(2),122-131.
MLA Liu Y,et al."High performance assembly of complex structural parts in special environments – research on space manipulator assisted module docking method".Robotic Intelligence and Automation 43.2(2023):122-131.
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