空间机器人视觉伺服控制地基验证系统

M. Jin, Haitao Yang, Zongwu Xie, Kui Sun, Hong Liu
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引用次数: 9

摘要

由于空间机器人任务的高成本和风险,空间机器人要求在发射前对所有程序进行严格的核查和测试。研制了一种陆基多回路仿真验证试验台,对自由漂浮空间机器人视觉伺服系统在三维空间捕获目标卫星进行了验证和试验。验证试验台采用运动学等效和多回路仿真的方法,包括实际硬件和仿真软件。最后,多回路仿真实验结果验证了地面验证试验台的有效性,验证了眼手视觉伺服系统在三维空间中的正确性和准确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The ground-based verification system of visual servoing control for a space robot
Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed which includes the real hardware and the simulation software adopts the method of kinematics equivalence and multi-loop simulation. Finally, the multi-loop simulation experimental results demonstrate the effectness of the ground verification testbed and validate the correctness and accuracy of the eye-in-hand visual servoing system in the 3-dimensional space.
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