An Automatic Alignment Strategy of Large Diameter Components with a Multi-sensor System
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摘要: 针对大口径器件的装配, 基于搭建的实验平台, 提出了一种多传感器反馈的分阶段自动对准策略, 实现了大口径器件的六自由度位姿对准. 对准过程中, 在机器人末端远离装配位置时, 采用视觉测量安装框架的相对位姿进行粗对准; 在机器人末端接近装配位置时, 由于安装框架尺寸大导致视觉不能获得完整的框架相对于大口径器件的位姿, 所以采用视觉采集安装框架的局部图像, 利用基于图像的控制消除绕Z轴的旋转误差和沿X、Y轴的平移误差, 采用多个激光测距传感器测量相对距离, 利用基于位置的控制消除沿Z轴的平移误差和绕X、Y轴的旋转误差, 实现大口径器件与安装框架的精对准. 采用增量式PI控制算法, 实现了对准的运动控制. 实验结果验证了所提方法的有效性.Abstract: In this paper, a high precision alignment strategy with multiple stages using different sensors is developed to realize the automatic alignment of large diameter components in the three-dimensional (3D) space of an experimental platform. In the process of alignment, when the end-effector is far from the target, a vision sensor is used to measure the relative pose between the large diameter component and the target for coarse alignment. When the end effector approaches the target, due to the large diameter of the target, relative pose cannot be measured only by its local image, so image-based control is used to eliminate angle error around the Z axis and translation errors along the X axis and Y axis, laser sensors are used to measure the relative distance, position-based control is used to eliminate translation error along the Z axis and angle errors along the X axis and Y axis. Fine coarse alignment is realized by the two-stage adjustments. An incremental PI controller is used to control the motion of the robot during the alignment. Experiments and results demonstrate the effectiveness of the proposed method.
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Key words:
- Multi-sensors /
- pose detection /
- visual servo /
- six degree of freedom (DOF) alignment
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