Aiming at the problems of low assembly accuracy and large assembly interference force of the deck and main frame during the robot satellite assembly stage

an online measurement and compensation method of satellite assembly error combining vision and force perception is proposed. An online measurement system for the assembly error of the satellite deck and the main frame is established by using the visual inspection device. The binocular calibration

robot hand-eye calibration

and relative pose calibration of other components have been completed. A method for compensating the assembly error of the satellite deck and main frame is proposed. The real-time measurement and accurate compensation of assembly error are realized. The robot terminal load identification and gravity compensation are completed by force sensing device. The interference force between the satellite deck and the main frame assembly is measured in real-time

and the satellite flexible assembly is realized. The experimental results show that the assembly error of the deck and main frame is controlled within 0.2 mm and the assembly interference force is less than 50 N after the online measurement and compensation of the satellite assembly error with the fusion of vision and force perception is adopted. It meets the precision requirements of satellite assembly

and proves the effectiveness and stability of the proposed method.