Coordination control method for mechanical arm and operation platform in final stage of grabbing

Abstract

The invention discloses a coordination control method for a mechanical arm and an operation platform in the final stage of grabbing. The coordination control method comprises the steps that before the final stage of grabbing, effective data of the last frame of the portion which can be grabbed of an object are obtained through a hand-eye camera at the tail end of the mechanical arm by means of measurement, and under the condition of a posture configuration A of the current operation platform, an expected grabbing posture of the tail end of the mechanical arm under a base coordinate system of the mechanical arm is determined; during the final stage of grabbing, according to operation platform posture information measured by a top on the current operation platform, the variation amount, relative to the configuration A, of a posture configuration B of a new operation platform is calculated, and an expected posture of the tail end of the mechanical arm under the condition of the posture configuration B of the new operation platform is worked out by combining the measurement data of the last frame; and finally the corrective control amount of all joints of the mechanical arm is obtained through the computation of inverse-kinematics, and the mechanical arm is driven to grab the expected object. By means of the coordination control method for the mechanical arm and the operation platform in the final stage of grabbing, it is guaranteed that the pointing posture and position of the platform remain the same in the movement process of the mechanical arm.

Description

technical field [0001] The invention belongs to the field of on-orbit maintenance of space robots, and relates to a coordinated control method for a manipulator and an operating platform at the final stage of capture. Background technique [0002] The space robot system includes at least one manipulator and satellite base (also known as the operating platform). Due to the weightless space environment and the space robot is a non-integrity constraint, there is a dynamic coupling between the operating platform and the manipulator, and the movement of the manipulator will be It interferes with the pose of the operating platform, and at the same time, the change of the pose of the operating platform affects the end pose of the manipulator. In particular, a certain deflection of the attitude of the operating platform will affect the gripping tool at the end of the manipulator to capture the target. When there is hand-eye binocular camera measurement data, the deflection of the a...

AI Technical Summary

Problems solved by technology

However, when the end of the manipulator is close enough to the target to be captured (for example, less than 10cm), at this stage, due to the limitations of the optical sensor itself (such as camera installation, field of view, etc.), the hand-eye binocular camera cannot continue to provide Effective measurement data, which increases the difficulty of the end-of-arm tool to capture the target

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