空间微装配中基于多维微力及力矩的主动柔顺控制关键技术研究

As the core research subject of microassembly, compliance control technology of microforce 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 microassembly control method with fusion of microforce and microvision 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 microassembly realized by robots based on microforce, but have important significance to achieve the autonomous assembly of microtarget as well.

微力觉的柔顺控制技术是微装配领域内的核心研究内容，是满足微器件精密无损装配要求的重要技术保障之一。但在多维微力的解耦与控制、基于多维力矩的装配姿态偏差诊断与柔顺控制等方面仍存在许多问题有待进一步解决。为此，本项目以惯性约束核聚变研究中的微靶装配为研究对象，首先研究二维微力与位置的在线解耦与智能控制方法以解决多维微力与位置间的耦合控制问题；研究互配微装配中装配姿态偏差与多维力矩之间关系的建模方法，进而针对由接触状态不确定引起的姿态偏差与多维力矩之间的多对一映射问题，研究一种基于主动约束状态的方法来实现装配姿态偏差的快速诊断；在此基础上，研究基于多维微力及力矩的主动柔顺控制方法来实现自动柔顺装配；最后通过研究微力觉与显微视觉融合下的空间自主装配控制方法来提高装配的效率和可靠性。本项目的预期成果有助于解决机器人利用微力觉来实现空间微装配的若干关键技术问题，对实现微靶自主化装配也具有重要意义。

微力觉的柔顺控制技术是微装配领域内的核心研究内容，是满足微器件精密无损装配要求的重要技术保障之一。本项目以惯性约束核聚变研究中的微靶装配为背景，首先建立轴孔装配中二维微力与位置的耦合模型；通过对微力传感中心和装配元件受力中心之间的微力传递机构进行分析，对互配装配过程中的接触状态进行枚举归类，建立装配姿态偏差与多维力矩间的关系模型；提出一种基于主动约束状态的方法来实现装配姿态偏差的快速诊断方法，解决了姿态偏差与多维力矩之间的多对一映射问题。在此基础上提出基于多维微力及力矩的主动柔顺控制方法，并通过轴孔装配验证了模型及方法的合理性。设计了一种主动柔顺径向控制方法实现薄壁微器件的插入装配，其中径向力控制器的设计集成了显式力控制和基于显微视觉的姿态测量；以腔锥类靶件的装配为例，提出一种基于多路显微视觉、位移传感器、机械手相配合的姿态测量方法实现了具有嵌入式结构的微器件的空间装配。本项目的成果有助于解决机器人利用微力觉来实现空间微装配的若干关键技术问题，对实现微靶自主化装配具有重要意义。