Autonomous motion planning method for large space manipulator based on multi-channel vision fusion

Abstract

The autonomous motion planning method of large-scale space manipulator based on multi-channel vision fusion. In multi-channel vision fusion, the priority of the global vision system is lower than that of the local vision system, and the priority of the local vision system is lower than that of the wrist vision system. The global vision system can obtain the pose information of the target object, but neither the local vision system nor the wrist vision system can obtain the pose information of the target object, so the target pose information obtained by the global vision system is used for motion planning; For the movement of the arm body, if the local vision system can obtain the pose information of the target object, before the manipulator body reaches the middle point of tracking, the target pose information obtained by the local vision system is used for motion planning; when the manipulator body moves to the tracking At the middle point, at this time, the wrist vision system has been able to obtain the pose information of the target object, and the motion planning is performed using the target pose information obtained by the wrist vision system. The invention realizes the tasks of autonomous movement, autonomous tracking and autonomous capture of target objects in a large space range.

Description

technical field

[0001] The invention relates to a method for autonomous motion planning of a large-scale space manipulator based on multi-channel vision fusion, and belongs to the field of manned spaceflight. Background technique

[0002] With the rapid development of space science and technology, a large number of space tasks need to be completed urgently, such as the assembly and maintenance of the space station, assisting astronauts to go out of the cabin, sampling the surface of the moon, etc. The completion of these tasks is inseparable from the necessary tool of the robotic arm. , so the robotic arm technology for space applications has become a new research field and has become a hot research issue. At present, research on space manipulators in the world has been carried out relatively early and has been successfully applied. For example, the space shuttle manipulators developed by Canada and the manipulators of the International Space Station have successfully comple...

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