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Key Technologies and Applications of Robotic Dual-Axis Hole Assembly for Satellite Components

Published: 15 December 2023 Publication History

Abstract

In order to complete the automatic assembly task of satellite components and ensure the consistency of assembly, the key technologies and applications of satellite component robotic dual-axis hole assembly are studied. In the dual-axis hole assembly scenario, an automatic grasping and gravity calibration model of the robot end is proposed. According to the least square method and the measured force sensor data in multiple poses, the zero point calibration of the robot end is realized. At the level of compliance control, a physical model is established and deduced. Taking the conductance control principle of admittance control as a reference, the assembly of satellite biaxial hole components based on force control is finally realized. The experimental results show that the gravity calibration method adopted is accurate, and the force curve and dynamic compensation value measured on this basis are in line with the model principle, and the ideal assembly effect has been achieved. It provides engineering reference for the dual-axis hole assembly in the field of manipulator control, and has high application value.

References

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          ICCVIT '23: Proceedings of the 2023 International Conference on Computer, Vision and Intelligent Technology
          August 2023
          378 pages
          ISBN:9798400708701
          DOI:10.1145/3627341
          Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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          Association for Computing Machinery

          New York, NY, United States

          Publication History

          Published: 15 December 2023

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          Author Tags

          1. dual-axis hole assembly
          2. impedance control
          3. robot
          4. satellite components
          5. zero-point calibration

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          • Research-article
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          • Refereed limited

          Funding Sources

          • National Defense Basic Scientific Research program of China

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          ICCVIT 2023

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          ICCVIT '23 Paper Acceptance Rate 54 of 142 submissions, 38%;
          Overall Acceptance Rate 54 of 142 submissions, 38%

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