Coordinated control method of manipulator and operating platform in the final stage of capture
An operation platform and coordinated control technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increasing the difficulty of capturing targets by tools at the end of manipulators, and the inability of hand-eye binocular cameras to continue to provide measurement data, etc., to improve grasping The effect of capturing success rate and simple system
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[0020] Based on the built space non-cooperative target capture operation ground test system, the coordinated control algorithm designed by the present invention is verified. The mechanical arm adopts a series-parallel hybrid structure, and the terminal measurement equipment is a binocular hand-eye camera. The camera measures the end of the mechanical arm and the graspable The relative expected pose of the captured part is calculated to obtain the joint configuration of the manipulator corresponding to the expected pose, and the end of the manipulator is controlled to move to the target captureable part to complete the capture of the star arrow docking ring.
[0021] The present invention provides a coordinated control method for a robot arm and an operating platform at the final stage of capture, the steps of which are as follows:
[0022] 1) Before entering the final stage of capture, the last frame of valid data of the captureable part of the target is measured by the hand-ey...
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