A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft

Abstract

For complex spacecraft assembly conditions, how to play effective and flexible robotic characteristics, and improve production efficiency, is the problem needed to solve.this paper presents a flexible force control method on robotic assembly: a 6-axis force/torque sensor is mounted between tools and the end of robots, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator’s hands through gravity compensation algorithm, then the force/torque information is used as input parameters to control the robots moving with the hands. The detailed scheme and algorithms are presented in this paper.