大部件无损伤、高精度装配机器人的关键理论与技术研究

以实现大部件无损伤、高精度的机器人自动化装配为项目需求。无损伤装配是大部件装配的基本要求，高精度装配是实现无损伤装配的重要保障。以已有的装配机器人系统及研究成果为基础，围绕提高接触力估计的精度，增强定位精度、路径规划精度、配合精度等方面展开研究，具体内容包含：发展基于电机电流的高精度、低成本的外力估计方法，实现无损装配；建立基于集合的关于六自由度运动的图像误差模型和研究相机网络的多目标视觉伺服控制理论，实现高精度定位；开发高精度、高密度、大景深的实时三维成像技术，实现高精度规划；揭示机器人末端执行器支撑点数量、布局与交点变形之间规律，实现高精度配合。通过上述内容的研究，本项目将解决大部件装配机器人关键理论与技术问题，推广大部件装配机器人的应用。

The requirement of this project is to realize the nondestructive, high-accuracy, robotic automatic assembly for large-scale component. Nondestructive assembly is the basic requirement for large-scale component assembly, which is guaranteed by high-accuracy assembly. On the basis of our assembly robot and research results, we investigate the following aspects, including the detection accuracy improvement of contact force; the location accuracy improvement, the path planning accuracy improvement, and the match accuracy improvement. The specific tasks are: develop high-accuracy, low-cost external force estimation method based on motor current to realize nondestructive assembly; establish set-based image error model with respect to six degree-of-freedom movement and study the multiply-target visual servoing theory for camera network to realize high-accuracy location; develop the real-time 3D imaging technique with high accuracy, high density, and large depth of filed to realize high-accuracy path planning; reveal the rule between number and space distribution of supporting points of robot end-effector and intersection deformation to realize high-accuracy match. Through above studies, the key theory and technique on large-scale component assembly robot will be solved, resulting in application promotion of large-scale component assembly.