Precise Robot Assembly for Large-Scale Spacecraft Components with a Multisensor System

In order to solve the difficulties of large-scale and heavy components installation for spacecraft under complex conditions, this paper proposes a new assembly system including a binocular stereo vision, two 6-axis-F/T sensors and precision measuring equipment. Base on the CAD model of spacecraft, robot and components etc., a binocular stereo vision is employed to localize the key geometric features, and then a virtual environment for assembly scene is constructed to provide collision warning in the process of the robot assembly. Based on the force and torque information sensing by 6-axis-F/T sensors, a motion control strategy is designed to achieve compliance assembly of spacecraft components. Then the position and attitude of the large-scale component is adjusted based on data from the measuring equipment. Finally, an assembly experiment is carried out for a laser altimeter instrument of a satellite. Results show that this method can control robot to safely and efficiently complete large-scale component installation in the narrow space of spacecraft.