A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

Li Jian Zhang; Rui Qin Hu; Wang Min Yi; Hao Fu; Lai Ying Tang

doi:10.4028/www.scientific.net/AMM.681.79

Paper Titles

A Structural Damage Classification Algorithm Based on AiNet Immune Aggregation
p.57

Component Detection Method for Measuring Precision
p.61

Detection of Seismic Wave with Laser Interferometer
p.66

Development of Real Time Harmful Gas Detecting Embedded System
p.70

A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft
p.79

Design and Kinematics Analysis of Planetary Sampling Manipulator with Lightweight
p.86

Local Modal Space Control Design for a 6-DOF Parallel Manipulator
p.90

Mobile Robot Powered by Solar Cells
p.96

Modal Analysis of the Line Inspection Robot's Manipulator
p.100

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 681A Study of Flexible Force Control Method on...

A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

Abstract:

For complex spacecraft assembly conditions, how to play effective and flexible robotic characteristics, and improve production efficiency, is the problem needed to solve.this paper presents a flexible force control method on robotic assembly: a 6-axis force/torque sensor is mounted between tools and the end of robots, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator’s hands through gravity compensation algorithm, then the force/torque information is used as input parameters to control the robots moving with the hands. The detailed scheme and algorithms are presented in this paper.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 681)

Pages:

79-85

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.681.79

Citation:

Cite this paper

Online since:

October 2014

Authors:

Li Jian Zhang*, Rui Qin Hu, Wang Min Yi, Hao Fu, Lai Ying Tang

Keywords:

Flexible Force Control, Robotic Assembly, Spacecraft

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] Guo Honghong. Industrial Robotics[M]. Xi'an：Xi'an Electronic Science and Technology University Press，(2005).

Google Scholar

[2] Cai Zixing，Robotics[M]. BeiJing：Tsinghua University Press，(2000).

Google Scholar

[3] Jin Guigen, Mu Jianjun. Material handling application of intellectual robot with vision system[J]. Manufacturing Automation, 2013, 35(6): 104-105.

Google Scholar

[4] Zhou Lu, Cai Jinda, Qian Wei, et al. Simple and convenient teaching of welding torch orientations for arc welding robot[J]. Journal of Mechanical Engineering. , 2010, 46(8): 73-77.

DOI: 10.3901/jme.2010.08.073

Google Scholar

[5] Rainer Bischoff, Johannes Kurth, Günter Schreiber, et al. The KUKA-DLR Lightweight Robots - a new reference platform for robotics research and manufacturing[C]. Proceeding of the 41st International Symposium on Robotics. Munich, Germany: VDE, 2010: 1-8.

Google Scholar

[6] Zhao Lei, Liu Wei, Gong Yan. Pre-stressed six-axis force/torque sensor based on Stewart platform[J]. Optics and Precision Engineering, 2011, 19(12): 2954-2962.

DOI: 10.3788/ope.20111912.2954

Google Scholar