An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control

Abstract

Aiming at the problem of poor accuracy consistency of large sections’ docking assembly, an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was proposed. In the solution of the pose of the docking section, real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser trackers. In the automatic control of the docking process, the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted, and the fully-automated docking of large sections is realized. Finally, an experimental verification system was set up, and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy, and the effectiveness of the automatic docking scheme was successfully verified.

References

[1] RenJ, QuanQ, LiuC, et al.. Docking control for probe-drogue refueling: an additive-state-decomposition-based output feedback iterative learning control method[J]. Chinese journal of aeronautics, 2020, 33(3):1016-1025

[2] WangG, XieZ J, MuX K, et al.. Docking strategy for a space station container docking device based on adaptive sensing[J]. IEEE access, 2019, 7: 100867-100880

[3] WangM M, LiD S, ZhaoY L. Iterative alignment of reflector panels for large-scale compact test range in non-metrology environment based on laser tracker[J]. Measurement science and technology, 2020, 31(4):045002

[4] XueZ, LiuJ, WuC, et al.. Review of in-space assembly technologies[J]. Chinese journal of aeronautics, 2020, 34(11): 21-47

[5] AhmadN, BeharaR, NarayanS S, et al.. Simulation of spacecraft motion in separation test[J]. Journal of spacecraft technology, 2008, 18(2):42-50

[6] JiangJ X, BianC, KeY L. A new method for automatic shaft-hole assembly of aircraft components[J]. Assembly automation, 2017, 37(1):64-70

[7] LeiP, ZhengL Y, XiaoW L, et al.. A closed-loop machining system for assembly interfaces of large-scale component based on extended step-nc[J]. International journal of advanced manufacturing technology, 2017, 91(5–8):2499-2525

[8] XuR, ChenW, XuY, et al.. A new indoor positioning system architecture using gps signals[J]. Sensors, 2015, 15(5):10074-10087

[9] ZhangS F, LiB, RenF J, et al.. High-precision measurement of binocular telecentric vision system with novel calibration and matching methods[J]. IEEE access, 2019, 7: 54682-54692

[10] ZhangX, XuY Z, LiH C, et al.. Flexible method for accurate calibration of large-scale vision metrology system based on virtual 3-D targets and laser tracker[J]. International journal of advanced robotic systems, 2019, 16(6):172988141989351

[11] ZhaQ S, ZhuY G, ZhangW B. Visual and automatic wing-fuselage docking based on data fusion of heterogeneous measuring equipments[J]. Journal of the Chinese institute of engineers, 2021, 44(8): 792-802

[12] SunC K, SunP F, WangP. An improvement of pose measurement method using global control points calibration[J]. Plos one, 2015, 10(7):e0133905

[13] WangT T, ZhangY M, LiuB. Model-based visual servoing for automatic docking system of circular symmetrical target with large displacement[J]. International journal of control automation and systems, 2023, 21(4): 1273-1284

[14] XiL, NiH S, WangB Y, et al.. Dynamic synthesis of three-point circle peripheral docking technology pose[J]. Applied sciences-basel, 2023, 13(4):2685

[15] MuralikrishnanB, PhillipsS, SawyerD. Laser trackers for large-scale dimensional metrology: a review[J]. Precision engineering-journal of the international societies for precision engineering and nanotechnology, 2016, 44: 13-28

[16] Roos-HoefgeestS, GarciaI A, GonzalezR C. Mobile robot localization in industrial environments using a ring of cameras and aruco markers[C], 2021, New York, IEEE: 21434270

[17] ZhangH, JiangC, LuM, et al.. Design of robotic measuring system for large diameter pipe fittings based on line laser[C], 2022, New York, IEEE: 21666075

[18] CaoS M, ChengQ L, GuoY J, et al.. Pose error compensation based on joint space division for 6-DOF robot manipulators[J]. Precision engineering-journal of the international societies for precision engineering and nanotechnology, 2022, 74: 195-204

[19] GaoY Z, GaoH B, BaiK P, et al.. A robotic milling system based on 3D point cloud[J]. Machines, 2021, 9(12): 355

[20] ZhangY, CaiC G, LiuZ H, et al.. Space-to-plane decoupling method for six-degree-of-freedom motion measurements[J]. Measurement science and technology, 2021, 32(12): 125005