Space manipulator butt joint tail end tool trajectory planning method based on visual feedback
A technology of space manipulators and end tools, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of low docking accuracy and high launch cost, and achieve the effect of reducing launch cost, ensuring trajectory accuracy, and reducing weight
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specific Embodiment approach 1
[0024] Specific implementation mode 1: In this implementation mode, based on visual feedback, the specific process of the space manipulator docking end tool trajectory planning method is as follows: image 3 shown, including the following steps:
[0025] Step 1. When the hand-eye camera installed at the end of the manipulator is used to obtain the ready position of the manipulator above the toolbox marker for visual measurement (Fig. 4(b)), the relative relationship between the tool system at the end of the manipulator and the coordinate system of the toolbox marker pose[dγ];
[0026] Among them, d is the relative distance between the tool system at the end of the manipulator and the coordinate system of the toolbox marker, and γ is the relative attitude between the tool system at the end of the manipulator and the coordinate system of the toolbox marker;
[0027] The manipulator is a 7-DOF manipulator, and the joint coordinate system of the manipulator is as follows: figure...
specific Embodiment approach 2
[0032] Specific embodiment two: the visual measurement preparation position of the mechanical arm above the toolbox marker in the step 1 is obtained from the initial position of the mechanical arm (Figure 4 (a)) according to the joint space motion trajectory, and the joint angle curve is as follows Figure 5 shown;
[0033] The joint space motion trajectory is obtained through 3-degree spline interpolation planning, as follows:
[0034]
[0035] Among them, θ d , with is the planned joint position, velocity and acceleration of the manipulator, j∈[1,n], n is the number of predefined trajectory points, p 1 ,p 2 ,...p n is n trajectory points, each trajectory point p j There are 8 elements, the first 7 elements are 7 joint positions, the 8th element is the moment when the position is reached, and cubic spline () is a cubic spline interpolation function.
specific Embodiment approach 3
[0036] Specific implementation method three: the relative pose [d γ] between the tool system at the end of the mechanical arm and the coordinate system of the toolbox marker when the robotic arm is in the visual measurement preparation position above the toolbox marker in the first step is as follows get:
[0037] Due to the measurement noise of the hand-eye camera, the method of taking the average of multiple measurements is used to offset the noise influence, and the number of measurements is taken as 100. The final relative pose of the tool system at the end of the manipulator and the coordinate system of the toolbox marker is:
[0038]
[0039] Among them, d i , gamma i is the relative position and attitude measured by the i-th hand-eye camera (expressed by ZYX Euler angles), and d and γ are the averaged relative position and attitude between the end-of-manipulator tool system and the toolbox marker coordinate system.
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