Space manipulator kinematics parameter on-orbit calibration method based on binocular vision

Abstract

The invention discloses a space manipulator kinematics parameter on-orbit calibration method based on binocular vision. Main equipment comprises a space manipulator and a calibration device which arefixed on the outer side of a space station cabin body, and the posture change relation between the space manipulator and the calibration device is known. The calibration device is provided with a binocular space camera and a system controller. The calibration method comprises the steps that a kinematic model of the space manipulator is established according to the joint configuration of the spacemanipulator; a space manipulator kinematics parameter calibration model is established according to the kinematic model of the space manipulator; the system controller sends an instruction to the space manipulator to make the space manipulator uniformly run to 50 position points; at each position point, the system controller reads the joint angle of the space manipulator, and the binocular space camera measures the tail end position of the space manipulator; the system controller calculates the corrected kinematics parameters; and the system controller transmits the corrected kinematics parameters to the space manipulator. The method has the characteristics of being high in automation degree, good in space environment adaptability and the like.

Description

technical field [0001] The invention belongs to the field of on-orbit calibration of kinematics parameters of a space manipulator, and relates to an on-orbit calibration method of kinematics parameters of a space manipulator based on binocular vision. Background technique [0002] With the rapid development of space technology, especially the birth and application of space stations, space shuttles, and space robots, space manipulators have entered space as a key technology for on-orbit support and services, and have attracted more and more attention. Through the actual use of the space shuttle and the International Space Station, the space manipulator has shown strong application capabilities and broad application prospects, which has greatly promoted the development of space science and applications. Especially with the rapid development of space technology fields such as space station orbit service and deep space exploration, the demand for space manipulator technology is ...

AI Technical Summary

Problems solved by technology

These factors inevitably lead to changes in the kinematic parameters of the space manipulator, resulting in the inability of the space manipulator to complete tasks such as on-orbit support and service.

[0004] Due to the particularity of the on-orbit environment and the structure of the space manipulator, the traditional method of calibrating the kinematics parameters of the manipulator cannot be used for the on-orbit calibration of the kinematics parameters of the space manipulator

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