On-orbit calibration method and system for space manipulator based on hand-eye camera

A space manipulator, hand-eye camera technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as complex calculation process, reduced calibration accuracy, and inapplicability

Active Publication Date: 2018-03-20
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0006] The shortcomings of the technical solutions of the above documents are mainly reflected in: (1) the method of using the correction matrix is ​​only applicable to the space manipulator working in a certain configuration, not applicable to all configurations; (2) the existing The methods all adopt the linearization method, and the calc...

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  • On-orbit calibration method and system for space manipulator based on hand-eye camera

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Embodiment 1

[0076] Taking a 7-DOF articulated space manipulator as an example, its theoretical structural parameters during structural design are shown in Table 1, and its real structural parameters on orbit after launch are assumed to be shown in Table 2. Here, the structural parameters of the space manipulator adopt the DH parameter notation, and each connecting rod is represented by 4 parameters: a i Indicates the connecting rod length, d i Indicates the distance between two connecting rods, α i Indicates the torsion angle of the connecting rod, θ i Represents the joint angle, where i≥1 represents the i-th link. For an articulated space manipulator, the 3 parameters of each link a i 、d i 、α i is a fixed value and needs to be obtained through calibration, while another parameter θ i is the variation, which can be obtained directly through measurement without calibration. Assume that the position measurement error of the hand-eye camera is 0.1 mm, and the attitude measurement accu...

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Abstract

The invention relates to an on-orbit calibration method and system for a space manipulator based on a hand-eye camera. The on-orbit calibration method comprises the steps of (1) performing imaging ona target by using the hand-eye camera installed at the tail end of the space manipulator under multiple groups of different configurations; (2) recording angle measurement values of joints of the space manipulator and position and pose data, which is measured by the hand-eye camera, of the tail end of the space manipulator under each group of configurations; (3) substituting the joint angle data and the tail end position and pose data of the space manipulator under different configurations into a space manipulator forward kinematics equation, and building a nonlinear equation set related withstructural parameters of the space manipulator; and (4) solving the built nonlinear equation set by adopting a numerical iterative algorithm to obtain structural parameters of the space manipulator. The method can be applied to performing on-orbit calibration on the structural parameters of the space manipulator after a spacecraft is launched into the orbit, so that the control accuracy of the space manipulator is effectively improved.

Description

technical field [0001] The invention relates to an on-orbit calibration method and system for a space manipulator based on a hand-eye camera, belonging to the technical field of space robots. Background technique [0002] For the space manipulator, especially the dexterous manipulator, in order to realize the accurate operation of the end tool on the target, the space manipulator is often required to have high control accuracy. The control accuracy of the end of the manipulator is directly related to the measurement accuracy of the structural parameters of the manipulator itself. Under ground conditions, with the help of accurate ground measurement devices, it is relatively easy to achieve precise measurement of the structural parameters of the manipulator. However, the space manipulator will bear huge vibration and shock during the launch process of the aircraft. At the same time, the space environment of the manipulator in orbit and the ground environment are quite differ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 肖帅刘蕊刘忠汉饶卫东梁静静宁宇
Owner BEIJING INST OF CONTROL ENG
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