Compliant Assembly of Electrical Connector Based on Contact Search and Force Control with Robotics

摘要

The assembly of electrical connectors by space robots is one of the important requirements for in-orbit service. In this paper, aiming at the difficulty of fine assembly of electrical connectors with multi-point coupling contact under the vision-limited conditions, an adaptive assembly method of circular electrical connectors with contact search and robotic force control based on “two-point contact-flexible sliding-attitude correction-alignment and insertion” is proposed. By establishing a dynamic model based on contact and collision, and introducing a force/torque-position hybrid impedance control algorithm, the high reliability assembly of the circular electrical connector is realized by experimental verification, which provides support for the maintenance of the spacecraft.