An adaptive ball-head positioning visual servoing method for aircraft digital assembly

TLDR: In this paper, the authors proposed a novel approach based on visual servoing such that the positioner's ball-socket can automatically and adaptively approach the ball-head fixed on the aircraft structures.

Abstract: To gain accurate support for large aircraft structures by ball joints in aircraft digital assembly, this paper aims to propose a novel approach based on visual servoing such that the positioner’s ball-socket can automatically and adaptively approach the ball-head fixed on the aircraft structures.,Image moments of circular marker labeled on the ball-head are selected as visual features to control the three translational degrees of freedom (DOFs) of the positioner, where the composite Jacobian matrix is full rank. Kalman–Bucy filter is adopted for its online estimation, which makes the control scheme more flexible without system calibration. A combination of proportional control with sliding mode control is proposed to improve the system stability and compensate uncertainties of the system.,The ball-socket can accurately and smoothly reach its desired position in a finite time (50 s). Positional deviations between the spherical centers of ball-head and ball-socket in the X-Y plane can be controlled within 0.05 mm which meets the design requirement.,The proposed approach has been integrated into the pose alignment system. It has shown great potential to be widely applied in the leading support for large aircraft structures in aircraft digital assembly.,An adaptive approach for accurate support of large aircraft structures is proposed, which possesses characteristics of high precision, high efficiency and excellent stability.