APTMRS: Autonomous Prism Target Maintenance Robotic System for FAST

doi:10.1109/TASE.2024.3406772

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 水下机器人

	APTMRS: Autonomous Prism Target Maintenance Robotic System for FAST
	Tao, Rui 2,3; Jing, Fengshui 2,3; Hou, Jun 2,3; Xing, Shiyu 2,3; Fu, Yichen 2,3; Fan, Junfeng 1,2; Tan, Min 1,2
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2024-05-31
页码	17
关键词	Bolt assembly end-effector pose measurement manipulation policies
ISSN号	1545-5955
DOI	10.1109/TASE.2024.3406772
通讯作者	Jing, Fengshui(fengshui.jing@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn)
英文摘要	The Five Hundred Meter Spherical Radio Telescope (FAST) is the largest spherical radio telescope in the world, and there are more than 2,000 prism targets distributed on its reflector that require regular maintenance. These prism targets are screwed into the corresponding threaded holes by target bolts. At present, manual maintenance is mainly used, which is inefficient and unsafe. To address this issue, we develop an autonomous prism target maintenance robotic system, called APTMRS. This system integrates a mobile robot with an assembly robot and a collaborative robot, enabling it to move and perform the prism target replacement task on the reflector. Its technical development is threefold. First, a robotic end-effector that can be used for screwing the non-standard target bolt from the side is designed. Second, a novel pose measurement framework, which incorporates a feature point extraction and matching method, is utilized to measure the pose of the prism target. Third, the manipulation policies for the challenging steps in the workflow are presented, including picking and placing, initial thread mating, and final tightening. Independent experiments indicate that the performances of these methods are satisfactory. Moreover, tests in both simulated and real FAST scenarios confirm the effectiveness of APTMRS in achieving autonomous prism target maintenance. Note to Practitioners-Due to its excellent versatility, threaded connections have been widely adopted in a multitude of scenarios. Threads are not only present on standard bolts and nuts but also on a myriad of non-standard components. The robotic system proposed in this paper offers a solution for assembling and disassembling target bolts for FAST. Specifically, the scenario applied in this paper covers several extremely challenging problems in autonomous threaded assembly. Firstly, the object of assembly is a non-standard bolt, with obstacles above it, rendering traditional tools inapplicable. Secondly, the surface of the object is weakly textured and highly reflective. These pose significant challenges for the vision system to accurately acquire its pose. Lastly, the assembly environment is harsh. The threaded holes reside on an incline that is hard to access, with a maximum slope of 56(degrees). To address these challenges, this paper presents a robotic system supplemented by three techniques including a novel robotic end-effector, a new pose measurement framework, and manipulation policies. The experimental results indicate that this robotic system is capable of autonomously disassembling and assembling non-standard target bolts. We explore the potential for generalizing these designs and methods to other scenarios, with the hope of contributing new insights to the development of threaded assembly systems.
资助项目	National Key Research and Development Program of China
WOS关键词	HISTOGRAMS ; SCREWS ; PARTS
WOS研究方向	Automation & Control Systems
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001236618800001
资助机构	National Key Research and Development Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58478]
专题	复杂系统管理与控制国家重点实验室_水下机器人
通讯作者	Jing, Fengshui; Fan, Junfeng
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Tao, Rui,Jing, Fengshui,Hou, Jun,et al. APTMRS: Autonomous Prism Target Maintenance Robotic System for FAST[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2024:17.
APA	Tao, Rui.,Jing, Fengshui.,Hou, Jun.,Xing, Shiyu.,Fu, Yichen.,...&Tan, Min.(2024).APTMRS: Autonomous Prism Target Maintenance Robotic System for FAST.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,17.
MLA	Tao, Rui,et al."APTMRS: Autonomous Prism Target Maintenance Robotic System for FAST".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024):17.