自由漂浮空间机器人视觉伺服系统研究

Research on the visual servo system of a free-floating space robot

为了将动力学模块引入传统的视觉伺服控制算法,使其更加符合真实模型。本文以自由漂浮空间机器人视觉伺服为目标,分析了其系统组成与工作原理。采用广义雅克比的方法完成其速度级的运动学建模,并在6D空间下分析其动力学模型。机械臂采用PD与前馈控制完成笛卡尔空间点到点连续路径规划。借助双目手眼相机完成非合作目标位姿的提取,进而完成视觉伺服系统的搭建。本文算法可将机械臂控制算法引入到空间机器人视觉伺服系统,使得机器人控制更加方便,具有结构简单成本低等优点。通过搭建Sim Mechanics仿真模型,实现了对期望轨迹的跟踪,验证了视觉伺服算法的正确性。

In order to add the dynamic model of the space robot to the traditional visual servo algorithm and enhance the authenticity of the simulation system,this paper analyzes the composition and principle of a free-floating space robot,focusing on its visual servo system. Generalized Jacobian matrix was used to complete kinematic model of the free-floating space robot,and the dynamics model was discussed under the condition of 6D spatial vector. Based on PD and feedforward control,the path planning of the robot was programmed in Cartesian space. A binocular hand- eye camera system was built to extract the pose of the non-cooperative satellite which further used to complete the visual servo system. Various robot control algorithms can be introduced to the visual servo system that makes it more convenient and takes advantage of simple mechanism with low cost. By building a SimMechanics model,the expec-ted trajectory had been tracked successfully which proved the visual servo system right.