Space rope system robot vision accurate approach method

Abstract

The invention relates to a space rope system robot vision accurate approach method. A camera is used for building state estimation based on a kalman filter for angle information obtained by a target, a model prediction control algorithm is used for controlling the direction and the speed of an operation robot, the state estimation of the filter and path tracking union are optimized, and therefore the space operation robot approaches the target on one hand, and relative location estimation with guaranteed accuracy is obtained through single-eye measurement on the other hand. The space rope system robot vision accurate approach method has the beneficial effects that a space rope system robot single-eye accurate approach method based on model prediction control is used, under the condition that the single-eye camera is used, real-time accurate positioning of the space rope system robot on the target can be achieved, and accurate target approaching is achieved.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and relates to a method for accurately approaching the vision of a space tethered robot, which is a method for accurately approaching a target based on the vision of a space tethered robot based on model predictive control. Background technique [0002] Space robots have their own unique advantages in assisting orbit changes, cleaning orbital garbage, and rescue of out-of-control satellites. The research object of the present invention is mainly aimed at space robots with tethers, and can also be slightly improved and applied to other types of space robots. The space tethered robot consists of three parts: "platform satellite + space tether + operating robot", such as figure 1 . The operating robot of the space tethered robot is a specific unit that approaches and captures the target. For the manipulating robot, the real-time measurement of its relative position with the target is the key t...

AI Technical Summary

Problems solved by technology

But as we all know, the monocular vision sensor can accurately measure the relative angle between the target and the operating robot, but it has great limitations for relative distance measurement

Therefore, in the existing space tethered robot approach methods, the monocular camera generally only plays the role of target angle alignment, and does not perform distance measurement.

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