A space flexible mechanical arm pose determination method, system, device and medium

Abstract

The application discloses a space flexible mechanical arm pose determination method, system, device and medium, relates to the technical field of space robot control and flexible electronic sensing, and the method comprises the following steps: after a flexible skin integrated with a distributed flexible sensing array is attached to the surface of a space flexible mechanical arm body, real-time collection of multi-channel sensing electric signals caused by the movement of the mechanical arm is performed; the multi-channel sensing electric signals are synchronously collected, analog-digital converted and pretreated to obtain pretreated sensing electric signals; feature decoupling processing is performed on the pretreated sensing electric signals to obtain a target feature vector representing the movement state of the mechanical arm; the target feature vector is input into a trained pose mapping model to output a preliminary pose estimation value; state filtering optimization is performed on the preliminary pose estimation value to output the final pose estimation result of the space flexible mechanical arm body, real-time high-precision determination of the pose of the space flexible mechanical arm body is realized, and the space operation precision and safety are improved.

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