空间绳系机器人超近距视觉伺服控制方法

A Short-Distance Visual Servo Control Method for the Tethered Space Robot System

针对空间绳系机器人超近距视觉伺服中相对位姿无法测量的问题,在建立机器人视觉系统非线性量测模型的基础上,提出一种基于直线跟踪的混合视觉伺服控制方法,利用帆板支架边缘线图像特征跟踪相对位姿,利用基座具有较大误差的量测信息保证控制系统的稳定性。仿真试验结果表明:在仅能获得帆板支架边缘线图像信息的情况下,设计的超近距逼近控制方法能够保证空间绳系机器人稳定到达目标卫星的帆板支架处,并满足捕获条件。

In the short distance visual servo approach,the solar panel bracket may not be completely imaged for the constrained visual field of camera,which will result in the lack of image features. Under the condition of the incomplete measurement information,the nonlinear measurement model of tethered space robot（ TSR） is derived. By using the image feature of the solar panel bracket and the platform measurement information,a mixed visual servo control method is proposed. The edge line images of the solar panel bracket are used to track the relative position and attitude between TSR and the target. The platform measurement information,which has a large margin of error,is used to ensure the stability of the control system. The simulation results show that the gripper of TSR should reach the solar panel bracket of the target satellite and meet the capture conditions. The visual servo control method is effective.