Research on Key Technology of Active compliance Control Based on Multi-dimensional Micro-forces and Torques in Spatial Autonomous Micro-assembly
Abstract：As the core research subject of micro-assembly, compliance control technology of micro-force is one of the important technical supports for assembly tasks to meet accurate and lossless requirements. However, there still remains some problems to be solved in the aspects of decoupling and control methods of multi-dimensional micro-forces, diagnosing and compliance control of assembly attitudes deviation. Hence, a series of research work have been carried out on the basis of taking the micro-target assembly in Inertial Confinement Fusion (ICF) as research target. Firstly, the online decoupling and intelligent control method between two-dimensional micro-forces and positions is researched to settle the coupling control problem between multi-dimensional micro-forces and positions. Then the modeling method of the relationship between attitudes deviation and multi-dimensional torque in the process of micro-assembly is studied. Furthermore, aiming at the multitude-to-one mapping problem between attitudes deviation and multi-dimensional torques due to the uncertain of contact states, a rapid diagnosis method based on active constraint state is proposed to diagnose the attitudes deviation. On the basis of the above achievements, compliance control method based on multi-dimensional micro-forces and torques is raised to realize autonomous compliance assembly. Finally, a kind of spatial autonomous micro-assembly control method with fusion of micro-force and micro-vision is designed to improve the efficiency and reliability. The expected achievements of this project will not only be helpful to settle the key technical problems of spatial micro-assembly realized by robots based on micro-force, but have important significance to achieve the autonomous assembly of micro-target as well.
Keywords: micro-assembly; active compliance control; decoupling method; attitudes deviation diagnosis; intelligent control
Contact:
SHEN Fei
E-mail: fei.shen@ia.ac.cn
Research Institute of Precise Perception and Intelligent Control