CAJ | 학술논문

文章从装配的实际需求出发，提出一种航天器机械臂柔性力控辅助装配方法：通过在机械臂末端法兰与负载之间安装的六维力传感器感知作用力与力矩信息，人手直接作用于机械臂末端的负载，系统通过负载的重力补偿算法获得人手作用的力与力矩信息，而后以力/力矩信息作为输入来控制机械臂进行移动或转动，使负载柔性跟随人手运动。文章给出了装配方法的详细设计方案与相关算法，并进行了初步试验验证。试验表明，该装配方法可以有效提高在航天器狭小空间内进行大重量工件安装的效率，且安全可靠。
문장종장배적실제수구출발，제출일충항천기궤계비유성력공보조장배방법：통과재궤계비말단법란여부재지간안장적륙유력전감기감지작용력여력구신식，인수직접작용우궤계비말단적부재，계통통과부재적중력보상산법획득인수작용적력여력구신식，이후이력/력구신식작위수입래공제궤계비진행이동혹전동，사부재유성근수인수운동。문장급출료장배방법적상세설계방안여상관산법，병진행료초보시험험증。시험표명，해장배방법가이유효제고재항천기협소공간내진행대중량공건안장적효솔，차안전가고。
Based on the requirements of the spacecraft assembly, this paper proposes a flexible force control method on the robot arm:a 6-axis force/torque sensor is mounted between the tool and the end of the robot arm, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator’s hands through a gravity compensation algorithm, then the force/torque information is used as input parameters to control the robot arm movement with the hands. The detailed scheme and algorithms are presented in this paper, and preliminary experiments were carried out to test the method. The experiments show that with the new method, the installation of a heavy equipment in a small room for the spacecraft would take much less time.