基于视觉的机械臂空间目标抓取策略研究

Study of vision-based space target capturing strategy for manipulators

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.

Space non-cooperative target measuring and capturing is an important apply objective for space manipulators. To resolve the position-pose measure and capturing problem, the characters of manipulator and target are analyzed. Considering the motion relation of manipulator, camera and target, the manipulator is controlled to arrive at pre-position for capturing based on space target position using stereo vision. Because of camera measure error and manipulator control precision single camera is used at the end capturing stage. The position and pose of manipulator can be adjusted accurately by vision-based servo method. The effectiveness of the capturing strategy is verified by the space target capturing experiment results for manipulator.