基于机器人与视觉引导的星载设备智能装配方法

当前大型星载设备的安装采用人工操作机械臂的方式完成。由于星载设备昂贵，装配过程在半封闭非直视条件下进行，需要多人进行人工观察与口令调整，耗费数小时，装配效率低下。为提升装配效率，实现装配过程的智能化与精准化，提出一种基于机器人与视觉引导的星载设备智能装配方法。采用机器学习与双目视觉实现装配体之间的精确位置测量；通过机器人手眼标定完成视觉空间到机器人空间的运动映射；综合分析装配路径的干涉状况，对装配路径进行机器人运动规划；最后通过虚拟现实技术实现装配过程的可视化。整个装配过程可自动完成，装配时间缩短在若干分钟以内。进行了卫星与星载设备的模型装配试验，结果表明装配误差小于0.3 mm，验证了所提方法的有效性。

Intelligent Robotic Assembly Method of Spaceborne Equipment Based on Visual Guidance

At present, the installation of large spaceborne equipment is usually performed manually. That is because the equipment is expensive and fragile, in addition the assembly process is carried out in a semi-closed space and under non-direct vision condition. Assemble workers operate under human observation and oral instructions. Therefore, the process is usually laborious and inefficient. To overcome this difficulty, an intelligent robotic assembly method based on visual guidance is proposed. First, machine learning and binocular vision techniques are employed to achieve accurate position measurement between assemblies. Then, motion mapping between the vision space and robot space is calculated to transfer the required motion into the robot space by hand-eye calibration. Next, assembly path planning is performed by analyzing the interference condition between two assemblies. Finally, the assembly process is visualized using virtual reality techniques for safety monitoring. The whole assembly process can be completed automatically in less than several minutes. Assembly experiments using satellite and equipment models are carried out, and the assembly error is evaluated to be less than 0.3 mm, confirming the effectiveness of the proposed method.