基于视觉伺服的并联装填平台自动对准方法

Automatic Alignment Method of Parallel Loading Platform Based on Visual Servo

针对导弹装填对准过程中发射装置位姿难以准确获得以及导弹位姿高精度控制需求等问题,提出基于视觉伺服的自动对准方法。将无标定的图像视觉伺服技术应用在六自由度并联装填平台上,建立了装填平台运动学模型,给出了自动对准流程,并进行仿真计算,实现了装填平台的姿态调整和自动对准过程。

Aiming at the problems of difficult acquisition of launcher position and pose and high precision control requirement of missile position and pose in the process of missile loading and alignment,an automatic alignment method based on visual servo was proposed.The uncalibrated image-based visual servo technology was applied to a 6-DOF parallel loading platform.The kinematics model of the loading platform was established.Then the automatic alignment process was given,and the simulation calculation was carried out.The result shows that the attitude adjustment and automatic alignment process of the loading platform was realized.