Motion Path Compensation Method of Manipulator Based on Vision Measurement

Abstract

The invention discloses a method for compensating a motion path of a mechanical arm based on vision measurement. Vision guides the mechanical arm to move. According to the method, due to vision measurement, the position of the mechanical arm, the position of a spacecraft and a position to be mounted are different from theoretical positions in a theoretical model, and a path planning deviation of the mechanical arm is compensated, so that a control effect on safe get in and get out of a narrow space is achieved, and a requirement on high-precision and high-reliability assembling of the spacecraft is met. Due to the method, an error between an actual position of the spacecraft and the theoretical position of an ideal model is identified, and the motion path of the mechanical arm is compensated, so that the position and the path can be more precisely controlled, and the control effect on safe get in and get out of the narrow space is achieved. The measurement method disclosed by the invention is wide in application range and can be applied to a spacecraft assembling process for different types under different assembling working conditions.

Description

technical field [0001] The invention belongs to the technical field of manipulator control, and in particular relates to a method for compensating the motion path of a manipulator by using visual measurement. Background technique [0002] The development of spacecraft has the characteristics of single piece and small batch. The current assembly operation relies heavily on manual operations, supplemented by simple tools such as spreaders, elevators, and ladders to assemble different spacecraft. This assembly method has certain limitations: for the installation of large-depth parts, due to the limitation of the operator's arm span, it is difficult to complete the installation work; for large-mass parts, manual lifting for a long time is likely to cause fatigue and affect the operation safety; in the case of narrow operating space, it is difficult to adjust the posture of the installed parts by manual lifting in a small space, and it is easy to collide with surrounding objects;...

AI Technical Summary

Problems solved by technology

This assembly method has certain limitations: for the installation of large-depth parts, due to the limitation of the operator's arm span, it is difficult to complete the installation work; for large-mass parts, manual lifting for a long time is likely to cause fatigue and affect the operation safety; in the case of narrow operating space, it is difficult to adjust the posture of the installed part by manual lifting in a small space, and it is easy to collide with surrounding objects; for parts that require high installation accuracy, manual installation is difficult to control Installation accuracy, long adjustment time

The assembly quality of this type of operation is greatly affected by the operator's personal technical level and working status

In addition, the internal instruments and equipment of the spacecraft are sophisticated, requiring high assembly precision, and the accuracy of manual operation is not easy to quantify and guarantee; at the same time, the internal instruments and equipment of the spacecraft are relatively expensive, and the installation space is small. It will seriously affect the development progress and launch date of the model, and has very high requirements for operational safety

Therefore, this control method has the risk of bruising or scratching spacecraft products due to human factors

It is not suitable for the assembly requirements of high reliability and safety of spacecraft assembly

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