空间机械臂视觉测量技术研究

空间机械臂技术是维护空间站、执行指定任务、保障航天员出舱作业的安全等必不可少的关键技术。视觉测量技术则是保证空间机械臂顺利完成空间遥操作任务的前提。基于此前提,首先对空间机械臂视觉测量技术进行了概述,并分别对手眼关系标定、标志器识别以及相对三维位姿测量等关键技术进行了阐述;然后,以加拿大机械臂为例提出了一种基于边缘特征的标志器识别算法,给出了具体的识别流程,并采用一种基于非迭代的相对位姿测量算法实现了位姿求解;最后,针对标志器识别算法和位姿测量算法给出了基于仿真图像的实验结果和机械臂原理样机集成实验结果。最终实验结果表明:提出的空间机械臂视觉测量方法合理可行,满足预期的技术指标要求,具有较强的工程应用价值。

Study on Vision Measurement Technology of Space Robotic Arm

Space Robotic Arm is an indispensible key technology in maintaining the space station , performing specified tasks and ensuring the safety of EVA astronauts .The vision measurement tech-nology is the prerequisite to complete the space teleoperation tasks with the space robotic arm .First, the authors introduced the outline of vision measurement technology of the space robotic arm and the three key technologies including calibration of hand-eye relationship , marker identification and three-dimensional position and attitude measurement .Then the Canadian robotic arm was taken as an example .The marker identification algorithm based on the edge feature and the specific identifi-cation process was proposed in this paper .A method based on the non-iterative algorithm was used to solve the relative three-dimensional position and attitude .Finally, the results based on the simu-lated images and the prototype of the robotic arm with the marker identification algorithm and the pose measurement algorithm were given .The final results showed that：the vision measurement tech-nology of space robotic arm is reasonable and feasible .It could meet the expected technical require-ments and has a promising engineering application in the future .