Visual servo coordination control method and system for space continuous robot

Abstract

The invention discloses a spatial continuous robot visual servo coordination control method and system, and the method comprises the following steps: S1, building kinematic models from a driving rope space to a configuration space and from the configuration space to a task space based on a segmented constant curvature method; s2, on the basis of the kinematics model and a camera perspective projection model, establishing a visual servo model of the relation between the target image feature speed and the flexible continuous robot rope speed; s3, establishing a system dynamics model containing a coupling dynamics relation between the flexible continuous robot and the space base; and S4, designing a spatial continuous robot visual servo coordination controller. Coordinated control over the flexible continuous robot and the space base is achieved on the dynamics level, and therefore it is ensured that the continuous robot accurately completes the constraint visual servo task, disturbance of the continuous robot to the posture of the space base is effectively restrained, and the posture of the base is kept stable.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a spatial continuous robot vision servo coordination control method and system. Background Technology

[0002] Continuous robots, with their advantages of flexibility, deformability, multiple degrees of freedom, and ability to absorb collision energy, can operate flexibly in confined and complex unstructured environments, and have become one of the research hotspots in the field of robotics. In special mission scenarios such as aerospace, continuous robots have shown great application potential, such as in-orbit target acquisition, satellite repair and maintenance, and confined environment exploration.

[0003] Visual servoing technology, by introducing visual feedback, can significantly improve the autonomous operation and environmental adaptability of robots, and is an important means to achieve robot intelligence. However, current visual servoing control methods for space robots mostly focus on traditional rigid-configuration space robots. Research on visual servoing control for flexible, continuous space robots is relatively limited.

[0004] Existing control schemes for flexible continuous robots often fail to integrate visual feedback, system constraints, and robot dynamics into a comprehensive solution. In high-speed spatial operations and real-world mechanical environments, the nonlinear dynamic effects of the system have a crucial impact on control accuracy and stability. More significantly, there is a strong dynamic coupling between the flexible continuous robot and its attached spatial base; the robot's motion inevitably disturbs the base's attitude, affecting the stability of the entire system.

[0005] Therefore, existing technologies lack an effective method for coordinating and controlling flexible continuous robots and spatial bases at the dynamic level. This makes it difficult to ensure the flexible continuous robot accurately completes constrained visual servoing tasks while effectively suppressing its interference with the base's attitude and maintaining the stability of the spatial base's posture. This problem is a critical technical challenge that urgently needs to be addressed in this field. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a visual servo coordination control method for a spatial continuous robot, which achieves coordinated control of the flexible continuous robot and the spatial base at the dynamic level, thereby ensuring that the continuous robot accurately completes the constrained visual servo task while effectively suppressing its disturbance to the attitude of the spatial base and maintaining the stability of the base attitude.

[0007] The second objective of this invention is to provide a visual servo coordination control system for a spatial continuous robot, which achieves coordinated control of the flexible continuous robot and the spatial base at the dynamic level. This ensures that the continuous robot accurately completes the constrained visual servo task while effectively suppressing its disturbance to the attitude of the spatial base and maintaining the stability of the base attitude.

[0008] To achieve one of the objectives of this invention, the following solution is adopted: A spatial continuous robot vision servo coordination control method includes the following steps: S1: Based on the piecewise constant curvature method, establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space; S2: Based on the kinematic model and the camera perspective projection model, establish a visual servoing model for the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot; S3: Based on the kinematic model, the flexible continuous robot is divided into multiple differential segments along the axial direction. The kinetic and potential energies of the flexible continuous robot and the space base are calculated. Substituted into the Lagrange equation, a system dynamic model containing the coupled dynamic relationship between the flexible continuous robot and the space base is established. S4: Based on the system dynamics model and the visual servoing model, design a spatial continuous robot visual servoing coordination controller. The coordination controller includes: a flexible continuous robot constrained visual servoing dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servoing predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servoing task and suppress the disturbance of the spatial base attitude by the continuous robot motion.

[0009] Furthermore, in step S1, based on geometric relationships, the change in the length of the drive rope is converted into the configuration space variable of the i-th segment of the flexible continuous robot as follows: in, For the torsion angle of a flexible continuous robot, The curvature angle, For curvature, The initial length of the drive rope for the flexible continuous robot. , , , The change in length of the driving rope for a flexible continuous robot. , and These are the proximal cross-sectional radii and end-effector radii of a flexible continuous robot. This represents the number of segments.

[0010] Further, in step S2, the visual servoing model is: in The position of the target image feature points on the image plane. The first of the camera's internal and external parameter matrices OK, For the depth information of feature points in the target image, The position of the target in three-dimensional space. For the matrix related to the forward kinematics of a continuous robot, For depth-independent images, the Jacobian matrix is... This refers to the change in rope length for a continuous robot. The speed of the rope in a continuous robot.

[0011] Furthermore, in step S3, the step of establishing the system dynamics model includes: S3.1: Calculate the kinetic energy of the flexible continuous robot Kinetic energy of the space base and the elastic potential energy of flexible continuous robots ; S3.2: Transfer the kinetic energy The kinetic energy and the elastic potential energy Substituting into the Lagrange equations, we establish the coupled dynamic equations of the flexible continuous robot and the space base: Generalized coordinates , Let this be the position of the center of mass of the spatial base in the inertial coordinate system. Describe the attitude angles of the space base. This is a vector representing the length changes of the driving ropes for a flexible continuous robot. The generalized force is applied to a spatial continuous robot system consisting of a flexible continuous robot and a spatial base.

[0012] Furthermore, the dynamic model of the flexible continuous robot is expressed as follows: Represents the inertia matrix. This represents the acceleration of a continuous-type robot's cable. Represents the Coriolis force and centrifugal force matrices. Indicates the speed of the rope in a continuous robot. Represents the stiffness matrix. Indicates the angular acceleration of the base. Indicates the linear acceleration of the base. This represents the generalized force exerted by the spatial base on the continuous robot. This represents the generalized force of rope drive in a continuous robot.

[0013] Furthermore, in step S4, the flexible continuous robot visual servo dynamics controller is designed as follows: in As a constant matrix, this controller considers the feedforward compensation of the coupling generalized force of the spatial base to the continuous robot. This is the input vector for a continuous robot vision servoing system designed based on predictive control.

[0014] Furthermore, the design of the flexible continuous robot visual servo prediction controller is based on the following constrained optimization problem: in, This is the control input sequence for a continuous robot vision servo predictive controller. The desired location of the target image feature points in the image plane. In order to be in Time Prediction Location of image features at any given time. To predict the time domain, To control the time domain, and This is the weight matrix. This refers to the torque exerted by the continuous robot on the space base. The sampling period is and These represent the maximum and minimum constraints for the rope force control of a continuous robot.

[0015] Furthermore, the base controller is designed using the LQR control method, and its cost function is: in , Let be the angular velocity of the space base. For the control input of the LQR controller, and This is the weight matrix.

[0016] Furthermore, considering the feedforward compensation of the torque exerted by the flexible continuous robot on the spatial base, the control quantity of the base controller is designed as follows: in yes The optimal feedback gain matrix at time t.

[0017] To achieve the second objective of this invention, the following solution is adopted: A spatial continuous robot vision servo coordination control system, comprising: The kinematic modeling module is used to establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space, based on the piecewise constant curvature method. The visual servoing model building module is used to establish a visual servoing model based on the kinematic model and the camera perspective projection model to establish the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot. The system dynamics modeling module is used to divide the flexible continuous robot into multiple differential segments along the axial direction based on the kinematic model, calculate the kinetic and potential energy of the flexible continuous robot and the space base, substitute them into the Lagrange equation, and establish a system dynamics model that includes the coupled dynamic relationship between the flexible continuous robot and the space base. A coordination control module is used to design a spatial continuous robot visual servo coordination controller based on the system dynamics model and the visual servo model. The coordination controller includes: a flexible continuous robot constrained visual servo dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servo predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servo task and suppress the disturbance of the continuous robot motion on the attitude of the spatial base.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves a unified consideration of visual servoing, system constraints, and dynamics. Most existing control methods for flexible continuous robots fail to integrate visual feedback, system constraints, and complex nonlinear dynamics. This invention systematically constructs a complete kinematic and visual servoing model from the drive space to the image space, and further establishes a precise system dynamics model based on the Lagrange equations, including the coupling relationship between the flexible continuous robot and the base, laying a precise model foundation for subsequent high-performance control.

[0019] 2. This invention achieves active coordinated control of the continuous robot body and its base at the dynamic level. Addressing the strong dynamic coupling between the flexible continuous robot and its spatial base, the coordinated controller designed in this invention does not control either the continuous robot or the base independently, but rather treats them as a coupled system for collaborative design. Specifically, the optimization objective function of the flexible continuous robot's visual servo predictive controller simultaneously incorporates the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base. This allows the controller to actively optimize to reduce disturbances to the base when solving for drive commands, thereby achieving coordination at the root of the dynamics.

[0020] 3. This invention ensures base posture stability while performing high-precision visual servoing tasks. Through the aforementioned coordinated control mechanism, the method of this invention enables flexible continuous robots to accurately complete visual feedback-based constrained servoing tasks (such as convergence of image feature points to desired positions) even in complex dynamic environments. Simultaneously, since the control strategy explicitly includes an optimization objective to suppress base disturbances, it effectively counteracts the coupling generalized forces generated by robot motion, significantly reducing or even eliminating disturbances to the spatial base posture. Ultimately, it achieves the simultaneous attainment of the two core objectives of constrained visual servoing task execution and spatial base posture stability, improving the autonomy, accuracy, and reliability of the entire spatial continuous robot system during on-orbit operation. Attached Figure Description

[0021] Figure 1 This is a flowchart of the spatial continuous robot visual servo coordination control method in an embodiment of the present invention; Figure 2 This is a simulation diagram illustrating the image position error of the target feature point in the image plane in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the variation of the rope driving force of the flexible continuous robot in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the change in the torque exerted by the continuous robot on the spatial base in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the attitude angle error variation of the space base in an embodiment of the present invention; Figure 6 This is a block diagram of the spatial continuous robot visual servo coordination control system in an embodiment of the present invention. Detailed Implementation

[0022] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0023] Example 1 like Figure 1-5 As shown, this embodiment of the invention provides a visual servo coordination control method for a spatial continuous robot, which can coordinate and control a flexible continuous robot and a spatial base. This allows the flexible spatial continuous robot to perform constrained visual servo tasks at the dynamic level while suppressing the disturbance of the continuous robot's motion on the spatial base's attitude and maintaining the stability of the spatial base's attitude.

[0024] The spatial continuous robot visual servo coordination control method of this invention includes the following steps: S1: Based on the piecewise constant curvature method, establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space.

[0025] S2: Based on the kinematic model and the camera perspective projection model, establish a visual servoing model to establish the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot.

[0026] S3: Based on the kinematic model, the flexible continuous robot is divided into multiple differential segments along the axial direction. The kinetic and potential energies of the flexible continuous robot and the space base are calculated. Substituted into the Lagrange equation, a system dynamic model containing the coupled dynamic relationship between the flexible continuous robot and the space base is established.

[0027] S4: Based on the system dynamics model and the visual servoing model, design a spatial continuous robot visual servoing coordination controller. The coordination controller includes: a flexible continuous robot constrained visual servoing dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servoing predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servoing task and suppress the disturbance of the spatial base attitude by the continuous robot motion.

[0028] The spatial continuous robot visual servo coordination control method according to an embodiment of the present invention will be further described in detail below: Based on the piecewise constant curvature method, kinematic models are established from the driving rope space to the configuration space, and from the configuration space to the task space. Based on geometric relationships, the length change of the driving rope is transformed into the first kinematic model. The configuration space variables of the segmental flexible continuous robot are: in, For the torsion angle of a flexible continuous robot, The curvature angle, For curvature, The initial length of the drive rope for the flexible continuous robot. , , , The change in length of the driving rope for a flexible continuous robot. , and These are the proximal cross-sectional radii and end-effector radii of a flexible continuous robot. This represents the number of segments.

[0029] No. The homogeneous transformation matrix between the upper and lower sections of a flexible continuous robot can be expressed as: in, express , express , express , express .

[0030] The homogeneous kinematic transformation matrix between the end effector and the base plane of the flexible continuous robot, obtained using the chain rule, is as follows: By differentiating the camera perspective projection model, the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot is obtained, i.e., the visual servoing model of the flexible continuous robot is as follows: in The location of feature points in the target image. The first of the camera's internal and external parameter matrices OK, For the depth information of feature points in the target image, The position of the target in three-dimensional space. For depth-independent images, the Jacobian matrix is... This refers to the change in rope length for a continuous robot. The speed of the rope in a continuous robot.

[0031] Flexible continuous robots are divided along the axial direction into... The _n differential segments are used to calculate the _th ... The velocity of the centroid coordinates of each differential segment With angular velocity And calculate the translational and rotational kinetic energy of each differential segment, and the kinetic energy of the flexible continuous robot. for The sum of the kinetic energies of the segments, the kinetic energy of the flexible continuous robot Represented as: in The mass of each segment, The moment of inertia for each segment.

[0032] Kinetic energy of space base Represented as: in For the mass of the space base, Let the linear velocity of the base be . Let be the angular velocity of the space base. Let be the moment of inertia of the space base.

[0033] The first flexible continuous robot in the inertial coordinate system linear velocity of a differential segment With angular velocity Represented as: in It is the identity matrix. From the base center of mass to the first The position of the centroid of the flexible continuous robot, and The linear momentum and angular momentum of a spatially continuous robot system relative to an inertial reference frame are as follows: in, Let this be the position of the center of mass of the spatial base in the inertial coordinate system. For the first The position of the center of mass of a segmental continuous robot in the inertial coordinate system.

[0034] Flexible continuous robots possess energy under compression or tension. The elastic potential energy of each segment is calculated based on Young's modulus, and then... The total elastic potential energy of the flexible continuous robot is obtained by summing the elastic potential energy of each segment. .

[0035] The space continuous robot consists of a flexible continuous robot and a space base. Substituting the kinetic and potential energy of the space continuous robot into the Lagrange equation, the coupled dynamic equations of the flexible continuous robot and the space base are established: Generalized coordinates , Describe the attitude angles of the space base. The generalized force is applied to a spatial continuous robot system consisting of a flexible continuous robot and a spatial base.

[0036] The dynamic model of a continuous robot is represented as follows: Represents the inertia matrix. This represents the acceleration of a continuous-type robot's cable. Represents the Coriolis force and centrifugal force matrices. Indicates the speed of the rope in a continuous robot. Represents the stiffness matrix. Indicates the angular acceleration of the base. Indicates the linear acceleration of the base. This represents the generalized force exerted by the spatial base on the continuous robot. This represents the generalized force of rope drive in a continuous robot.

[0037] Due to the dynamic coupling between the flexible continuous robot and the spatial base, a visual servo coordination controller for the spatial continuous robot is designed. Under the visual servo coordination control, the control system of the flexible continuous robot and the attitude control system of the spatial base share the control task. This allows the flexible spatial continuous robot to complete the constraint visual servo task at the dynamic level while reducing the disturbance of the continuous robot's motion to the attitude of the spatial base and maintaining the attitude stability of the spatial base.

[0038] Based on predictive control, a constrained visual servo controller for a flexible continuous robot is designed. This controller is then combined with the dynamics of the flexible continuous robot to design a visual servo dynamic controller for the flexible continuous robot. in As a constant matrix, this controller considers the feedforward compensation of the coupling generalized force of the spatial base to the continuous robot. Given the input vector of a continuous robot vision servoing system designed based on predictive control, the dynamic equation is obtained. The dynamic equation is combined with the continuous robot visual servoing model and discretized to form a visual servoing system prediction model, which is expressed as: in, To predict the sampling time of the controller, The sampling time.

[0039] The flexible continuous robot visual servo predictive controller is designed as follows: in, The desired location of the target image feature points in the image plane. In order to be in Sampling time prediction The location of image features at the sampling time. To predict the time domain, To control the time domain, and This is the weight matrix. This refers to the torque exerted by the continuous robot on the space base. and These represent the maximum and minimum values ​​of the rope force control parameters for the continuous robot. Constraining the rope driving force of the continuous robot effectively prevents rope slack and avoids the rope tension exceeding the limit range, ensuring the safe operation of the continuous robot. Furthermore, in the visual servoing predictive controller of the continuous robot, the objective functions are minimizing the target image feature position error and the torque exerted by the continuous robot on the spatial base. This allows the continuous robot to complete the constrained visual servoing task while suppressing the disturbance of the spatial base's attitude caused by the continuous robot's motion. Within each control cycle, the constrained control optimization problem is solved using the SQP optimization algorithm to obtain the optimal control sequence. The first effect acts on the system.

[0040] To maintain the stability of the space base attitude and minimize energy consumption during control, the LQR control method is used to design the space base controller. The LQR cost function is designed as follows: in, , Let be the angular velocity of the space base. For the control input of the LQR controller, and Given the weight matrix, and considering the feedforward compensation of the coupling torque between the continuous robot and the space base, the control quantity of the space base controller is designed as follows: in yes The optimal feedback gain matrix at time t.

[0041] To verify the effectiveness of the proposed method, simulations were performed on a flexible spatial continuous robot hand-eye vision system. A camera was mounted on the end effector of the flexible continuous robot, and the homogeneous transformation matrix between the end effector coordinate system and the camera coordinate system was: The position of the target feature point relative to the inertial coordinate system is The camera focal length is 0.005m, the image resolution is 1292×964, the length of the continuous robot is 0.18m, the radii of the end face and proximal face of the continuous robot are 0.015m and 0.03m respectively, and the mass of the space base is... The weight matrix in the continuous robot visual servo predictive control is: , The maximum constraint for the continuous robot's cable-driven force is set to 40N, and the minimum constraint is set to 1N. The sampling time of the visual servo predictive controller is 40ms. The image position error of the target image feature points on the image plane is as follows: Figure 2 As shown in the figure, the image position error of the image feature points can converge to 0. The variation of the cable driving force of the continuous robot is as follows. Figure 3 As shown in the figure, the cable driving force of the continuous robot can be constrained, preventing it from exceeding its maximum and minimum values. The cable driving force constraint can be satisfied. The torque variation of the continuous robot on the spatial base is shown in the figure. Figure 4 As shown, the attitude angle error variation of the space base is as follows: Figure 5 As shown in the figure, under the proposed coordinated control method, the attitude angle error of the space base can converge to 0. The results show that the proposed method can enable the flexible spatial continuous robot to complete the constrained visual servoing task at the dynamic level, while suppressing the disturbance of the flexible continuous robot's motion on the attitude of the space base and ensuring the stability of the space base's attitude.

[0042] Understandably, most visual servoing methods for space robots are designed for rigid space robots, with less research on visual servoing control for flexible, continuous space robots. Furthermore, most control methods for flexible, continuous robots do not simultaneously consider visual feedback, system constraints, and dynamics. In high-speed operation and practical mechanical situations of space robots, nonlinear forces play a crucial role in the accuracy and stability of the control system. Moreover, due to the dynamic coupling between the continuous robot and the space base, the movement of the continuous robot can cause attitude disturbances to the space base. Therefore, considering the coordinated control of the continuous robot and the space base at the dynamic level can suppress the disturbances of the continuous robot's movement to the attitude of the space base, thereby achieving the goal of maintaining the stability of the space base's attitude while constraining the visual servoing task of the continuous space robot.

[0043] Example 2 like Figure 6 As shown, this embodiment of the invention also provides a spatial continuous robot visual servo coordination control system, including: The kinematic modeling module is used to establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space, based on the piecewise constant curvature method.

[0044] The visual servoing model building module is used to establish a visual servoing model based on the kinematic model and the camera perspective projection model to establish the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot.

[0045] The system dynamics modeling module is used to divide the flexible continuous robot into multiple differential segments along the axial direction based on the kinematic model, calculate the kinetic and potential energies of the flexible continuous robot and the space base, substitute them into the Lagrange equation, and establish a system dynamics model that includes the coupled dynamic relationship between the flexible continuous robot and the space base.

[0046] A coordination control module is used to design a spatial continuous robot visual servo coordination controller based on the system dynamics model and the visual servo model. The coordination controller includes: a flexible continuous robot constrained visual servo dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servo predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servo task and suppress the disturbance of the continuous robot motion on the attitude of the spatial base.

[0047] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A spatial continuous robot visual servo coordinated control method, characterized in that, Includes the following steps: S1: Based on the piecewise constant curvature method, establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space; S2: Based on the kinematic model and the camera perspective projection model, establish a visual servoing model for the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot; S3: Based on the kinematic model, the flexible continuous robot is divided into multiple differential segments along the axial direction. The kinetic and potential energies of the flexible continuous robot and the space base are calculated. Substituted into the Lagrange equation, a system dynamic model containing the coupled dynamic relationship between the flexible continuous robot and the space base is established. S4: Based on the system dynamics model and the visual servoing model, design a spatial continuous robot visual servoing coordination controller. The coordination controller includes: a flexible continuous robot constrained visual servoing dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servoing predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servoing task and suppress the disturbance of the spatial base attitude by the continuous robot motion.

2. The spatial continuous robot visual servo coordination control method according to claim 1, characterized in that, In step S1, based on geometric relationships, the change in the length of the drive rope is converted into the configuration space variable of the i-th segment of the flexible continuous robot as follows: in, For the torsion angle of a flexible continuous robot, The curvature angle, For curvature, The initial length of the drive rope for the flexible continuous robot. , , , The change in length of the driving rope for a flexible continuous robot. , and These are the proximal cross-sectional radii and end-effector radii of a flexible continuous robot. This represents the number of segments.

3. The spatial continuous robot visual servo coordinated control method according to claim 1 or 2, characterized in that, In step S2, the visual servoing model is: in The position of the target image feature points on the image plane. The first of the camera's internal and external parameter matrices OK, For the depth information of feature points in the target image, The position of the target in three-dimensional space. For the matrix related to the forward kinematics of a continuous robot, For depth-independent images, the Jacobian matrix is... This refers to the change in rope length for a continuous robot. The speed of the rope in a continuous robot.

4. The spatial continuous robot visual servo coordination control method according to claim 1, characterized in that, In step S3, the steps for establishing the system dynamics model include: S3.1: Calculate the kinetic energy of the flexible continuous robot Kinetic energy of the space base And the elastic potential energy of flexible continuous robots ; S3.2: Transfer the kinetic energy The kinetic energy and the elastic potential energy Substituting into the Lagrange equations, we establish the coupled dynamic equations of the flexible continuous robot and the space base: Generalized coordinates , Let this be the position of the center of mass of the spatial base in the inertial coordinate system. Describe the attitude angles of the space base. This is a vector representing the change in the length of the driving rope for a flexible continuous robot. The generalized force is applied to a spatial continuous robot system consisting of a flexible continuous robot and a spatial base.

5. The spatial continuous robot visual servo coordination control method according to claim 4, characterized in that, The dynamic model of the flexible continuous robot is expressed as follows: in, Represents the inertia matrix. This represents the acceleration of a continuous-type robot's cable. Represents the Coriolis force and centrifugal force matrices. Indicates the speed of the rope in a continuous robot. Represents the stiffness matrix. Indicates the angular acceleration of the base. Indicates the linear acceleration of the base. This represents the generalized force exerted by the spatial base on the continuous robot. This represents the generalized force of rope drive in a continuous robot.

6. The spatial continuous robot visual servo coordinated control method according to claim 1, characterized in that, In step S4, the flexible continuous robot visual servo dynamics controller is designed as follows: in This refers to the control quantity of a flexible, continuous robot vision servo dynamics controller. As a constant matrix, this controller considers the feedforward compensation of the coupling generalized force of the spatial base to the continuous robot. This is the input vector for a continuous robot vision servoing system designed based on predictive control.

7. The spatial continuous robot visual servo coordinated control method according to claim 6, characterized in that, The design of the flexible continuous robot visual servo prediction controller is based on the following constrained optimization problem: in, This is the control input sequence for a continuous robot vision servo predictive controller. The desired location of the target image feature points in the image plane. In order to be in Time Prediction Location of image features at any given time. To predict the time domain, To control the time domain, and This is the weight matrix. This refers to the torque exerted by the continuous robot on the space base. The sampling period is and These represent the maximum and minimum constraints for the rope force control of a continuous robot.

8. The spatial continuous robot visual servo coordinated control method according to claim 1 or 4, characterized in that, The base controller is designed using the LQR control method, and its cost function is: in , Let be the angular velocity of the space base. For the control input of the LQR controller, and This is the weight matrix.

9. The spatial continuous robot visual servo coordinated control method according to claim 8, characterized in that, Considering the feedforward compensation of the torque exerted by the flexible continuous robot on the spatial base, the control quantity of the base controller is designed as follows: in yes The optimal feedback gain matrix at time t.

10. A spatial continuous robot visual servo coordination control system, characterized in that, include: The kinematic modeling module is used to establish kinematic models from the driving rope space to the configuration space, and from the configuration space to the task space, based on the piecewise constant curvature method. The visual servoing model building module is used to establish a visual servoing model based on the kinematic model and the camera perspective projection model to establish the relationship between the target image feature velocity and the rope velocity of the flexible continuous robot. The system dynamics modeling module is used to divide the flexible continuous robot into multiple differential segments along the axial direction based on the kinematic model, calculate the kinetic and potential energy of the flexible continuous robot and the space base, substitute them into the Lagrange equation, and establish a system dynamics model that includes the coupled dynamic relationship between the flexible continuous robot and the space base. A coordination control module is used to design a spatial continuous robot visual servo coordination controller based on the system dynamics model and the visual servo model. The coordination controller includes: a flexible continuous robot constrained visual servo dynamic controller based on predictive control design, and a base controller for stabilizing the attitude of the spatial base. The optimization objective function of the flexible continuous robot visual servo predictive controller simultaneously includes the target image feature position error and the torque exerted by the flexible continuous robot on the spatial base, so as to achieve constrained visual servo task and suppress the disturbance of the continuous robot motion on the attitude of the spatial base.

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