基于视觉控制的导弹插拔机构控制模式研究

Visual Control Based Control Mode for Missile Insert-Pull Mechanism

针对导弹插拔机构不能快速准确动作的现状,提出一种以六自由度机器人为实验平台,通过视觉标定目标点的方法实现可靠插拔工作的新型控制模式。利用图像处理和摄像机标定等方法,获取插座位置信息,通过CPAC控制器完成位置信息的读取,并控制末端执行器可靠动作,最后通过实验验证这种方法的可行性,成功地完成插拔工作,为导弹插拔机构的控制模式提供新思路。

To solve the problem that the guided missile insert-pull mechanism can＇t act quickly and accurately, we put forward a new control mode for implementing reliable insert-pull action by calibrating the target point through visual control taking a 6-DOF robot as the experimental platform. The information of the socket＇s location is obtained by using image processing and camera calibration, which is then read out by the CPAC controller, and is used to control the end effector to complete reliable action. The feasibility of the method is verified through experiment.