Mechanical arm planning method suitable for visual information guiding under multi-constrained condition

Abstract

The invention relates to a mechanical arm planning method suitable for visual information guiding under the multi-constrained condition. The mechanical arm planning method comprises the following steps that (1), the current working stage of a mechanical arm is judged; (2), the capture target position is obtained, and the target speed is calculated; (3), whether the capture condition is met or not is judged, if yes, capturing operation is completed, and if no, the step (4) is executed; (4), whether a hand-eye camera stably captures a target or not is judged, if yes, a capture stage mechanical arm planning instruction is carried out, and if not, the step (5) is executed; and (5), whether the mechanical arm enters a dangerous zone or not is judged, if yes, a searching approach stage mechanical arm planning instruction is carried out, and if not, a quick approach stage mechanical arm planning instruction is carried out. According to the mechanical arm planning method suitable for visual information guiding under the multi-constrained condition, a two-eye camera and the hand-eye camera serve as visual sensors, and the effectiveness of the mechanical arm planning input information is ensured; and a mechanical arm movement forecasting method under the visual information losing condition is added, so that the scheme is good in integrity and high in adaptability.

Description

technical field

[0001] The invention relates to a visual information-guided robotic arm planning method including multiple constraint conditions, which belongs to the field of space operation. Background technique

[0002] Human beings have been engaged in space activities for a long time, and satellites that have completely failed or were abandoned due to the end of their missions stay in space and become space junk. The number of space debris continues to increase, which not only endangers the safety of orbiting spacecraft, but also poses a threat to limited space orbital resources. serious threat. In order to clean up the orbital environment as much as possible, various countries are researching on-orbit service technologies for satellite maintenance and space junk removal. Because the space manipulator has the advantages of high control precision, strong flexibility, and strong task adaptability, the active removal technology based on manipulator operation has become th...

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