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A super-short-range visual servo control method for a space tethered robot

A technology of robot vision and space tethering, which is applied in the direction of program control, general control system, program control manipulator, etc. It can solve the problems of short baseline distance of measurement camera, difficulty in target measurement, and small overlapping area of ​​binocular vision.

Active Publication Date: 2015-10-07
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The operating robot is small, and the baseline distance of the measurement camera is very short. When approaching at a super close distance, the overlapping area of ​​the binocular vision is small, which cannot provide suitable pose data, and the position-based visual servo control mode cannot be used.
In addition, the target capture point is generally in the middle of the sailboard bracket. When approaching at a super close distance, the sailboard bracket fills the entire field of view, and there is no corner point in the traditional sense, which brings great difficulties to the measurement of the target.

Method used

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  • A super-short-range visual servo control method for a space tethered robot
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  • A super-short-range visual servo control method for a space tethered robot

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Embodiment Construction

[0027] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0028] The embodiments of the present invention are realized through the following technical solutions.

[0029] In super close approximation, it is assumed that:

[0030] 1. The sailboard bracket is a single pole type, and the bracket is a thin plate, and the thickness can be ignored;

[0031] 2. The visual measurement system of the space tether robot is a single camera, which is installed at the front end of the operating robot;

[0032] 3. The sailboard support is infinitely long and fills the entire camera field of view, and the position of the straight line on the edge of the support can be obtained through image processing algorithms.

[0033] figure 1 It is a schematic diagram of the ultra-close approach of the space tethered robot: the operating robot 4, the space tether 5 and the space platform 6 together form the space tethered robot. In the ultra-s...

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Abstract

The invention relates to an extremely near visual servo control method for a space tethered robot. When the space tethered robot get close to a target in an extremely near mode, a sailboard support fills the integral camera field, capture points are difficult to measure, and a straight line which is formed by edges of the sailboard support is easy to be detected. The extremely near visual servo control method for the space tethered robot with the detected sailboard support edge line serving as input is served as a new visual servo method and effectively controls the space tethered robot to get close to the target to achieve the space operation task.

Description

technical field [0001] The invention belongs to the field of on-orbit service of a space tethered robot, and in particular relates to a super-short-range visual servo control method for a space tethered robot. Background technique [0002] Space tethered robot is a new type of space robot system. Due to its characteristics of flexibility, safety, and low cost, it will be widely used in tasks such as rescue of failed satellites, space garbage cleaning, on-orbit maintenance, and on-orbit assembly. The general structure of the space tethered robot is "space platform, space tether, operating robot". The space platform releases the operating robot through the space tether, and the operating robot approaches and captures the space target; the operating robot has its own manipulator arm and terminal operation The hand is used to perform tasks such as target acquisition and in-orbit servicing. The approach process of space tethered robot is a typical position-based visual servo con...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06F19/00
CPCB25J9/1697G05B2219/40002G06T7/0004
Inventor 孟中杰黄攀峰刘正雄常海涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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