Space manipulator track rolling planning method based on vision measurement

A space manipulator, visual measurement technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unstable and continuous motion, and achieve the effect of smooth motion, high flexibility, and strong adaptability of the manipulator.

Active Publication Date: 2018-02-16
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a space manipulator track rolling planning method based on visual measurement, and to solve the mismatch between the bottom track planning period of the space manipulator and the pose calculation period of the visual sensor jerky motion in case of continuous problems

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  • Space manipulator track rolling planning method based on vision measurement
  • Space manipulator track rolling planning method based on vision measurement
  • Space manipulator track rolling planning method based on vision measurement

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Embodiment Construction

[0039] Based on the ground test system for capturing and operating non-cooperative targets in space, the rolling planning algorithm disclosed in the present invention is verified. The mechanical arm adopts a series structure, and the terminal measurement device is a hand-eye binocular camera. Considering safety, before the manipulator starts to operate, the attitude and orbit control system of its base satellite platform is turned off to become a free-floating space manipulator. When the captureable part of the target star is in the field of view of the visual sensor, and the sensor can measure the relative pose of the captureable part, the space manipulator enters the vision guidance mode. The camera measures the relative expected pose of the captureable parts on the target star in the camera coordinate system, and then performs upper-level planning to obtain the joint position and joint speed of the manipulator at the next sampling time of the hand-eye binocular camera, and t...

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Abstract

The invention relates to a space manipulator track rolling planning method based on vision measurement. The vision sensor measured data updating period differs from a bottom layer interpolation periodgreatly; firstly, upper layer planning is carried out based on vision sensor measured information; secondly, lower layer planning of a motor layer is carried out based on the upper layer planning result, and the space manipulator track planning is alternatively carried out in a rolling manner in two time scales; and a space manipulator is guided by the vision sensor measured information to move to be in expected configuration, it can be guaranteed that the space manipulator moves continuously and stably, advantages are created for stable imaging of a vision sensor conveniently, and the success rate of space operation tasks is improved.

Description

technical field [0001] The invention belongs to the field of on-orbit repair and maintenance of space robots, and relates to a rolling planning method for the running track of a space manipulator based on vision measurement. Background technique [0002] On-orbit servicing is typically performed by tracking spacecraft equipped with robotic arms, known as space manipulator systems. Under the guidance of the visual sensor, the space manipulator realizes the capture of the target spacecraft and performs corresponding operation tasks. The time scale of the underlying planning cycle of the manipulator trajectory is on the sub-millisecond scale. However, limited by the current on-board image processing hardware level, it usually takes hundreds of milliseconds for the visual sensor to acquire the target image and calculate the position and attitude of the target relative to the visual sensor coordinate system. The mismatch between the underlying trajectory planning period of the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664B25J9/1697
Inventor 徐拴锋魏春岭何英姿朱志斌唐强张军周扬
Owner BEIJING INST OF CONTROL ENG
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