Space rope system robot vision accurate approach method
A robot vision and space tethering technology, which is applied in the aerospace field, can solve the problems of no distance measurement and the limitation of relative distance measurement, and achieve the effect of accurately approaching the target and real-time precise positioning.
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[0069] figure 1 It is the system diagram of the space tethered robot. The system consists of a satellite platform, a tether, and an operating robot. The target is located in front of the system. The satellite platform is a satellite with more functions, larger mass and volume. When the satellite platform approaches the target to a certain distance, it can launch the operating robot to approach and capture the target. During the flight, the operating robot measures the relative position between it and the target in real time through the monocular camera installed on it, and guides the operating robot to perform correct approach maneuvers.
[0070] Figure 5 It is the feedback structure diagram of the control system. Firstly, according to the angle information of the target relative to the manipulating robot, the relative position of the space manipulating robot and the target is estimated using the EKF method. Then the estimated value obtained by EKF is fed back to the mod...
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