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空间非合作目标的探测和抓取是空间机械臂的重要应用目标,为了解决空间目标的位姿测量和捕获问题,本文深入分析了机械臂特性和目标特性,在建立机械臂、相机和目标的运动关系的基础上,基于立体视觉实现了对空间目标的位姿测量,控制机械臂进行抓取预定位.考虑立体相机的测量误差和机械臂的控制精度因素,在抓取末阶段采用单目相机,基于图像的视觉伺服策略控制机械臂进行精确位姿调整对目标进行抓取.通过机械臂对空间目标的抓取实验验证了该抓取策略的有效性.
In order to solve the problem of pose measurement and acquisition of space targets, this paper analyzes the characteristics of robots and the characteristics of targets in detail. In the process of establishing robotic arms, camera and target Based on the stereo vision, the position and attitude of the space target are measured and the pre-positioning of the manipulator is controlled. Taking into account the measurement error of the stereo camera and the control accuracy of the manipulator, A camera and image-based visual servoing strategy were used to control the robot to accurately position and position the target, and the effectiveness of the strategy was verified by the robot’s experiments on the space target.