一种基于手眼相机的空间机械臂在轨标定方法

An In-Orbit Calibration Method for Space Manipulator Based on Hand-Eye Cameras

提出了一种基于手眼相机的空间机械臂在轨标定方法.该方法采用D-H参数法建立空间机械臂系统的非线性模型,通过设计在轨标定测例,利用手眼相机获取在轨标定数据,然后采用数值迭代的方法直接基于空间机械臂非线性模型进行求解,从而完成空间机械臂的在轨自标定.通过对一个七自由度空间机械臂进行数学仿真,对该方法的有效性进行了验证.该方法直接基于非线性模型采用数值迭代算法进行解算,避免了基于线性化模型进行解析计算带来的精度损失,提高了在轨标定精度.

In this paper,an in-orbit calibration method for space manipulator based on hand-eye cameras is proposed.The nonlinear model of the space manipulator is built via D-H method,and calibration cases are designed to obtain calibration data by hand-eye cameras.Then,numerical iteration method is utilized directly to solve the nonlinear problem.Thus the D-H parameters can be achieved.A case study is carried out on a 7-DOFs space manipulator through simulations,and the results show the validation of the proposed method.The proposed method is directly based on non-linear model of space manipulator,so the accuracy loss of linearization can be avoided,which improves the accuracy of in-orbit calibration.