| 空间机械臂的一种自标定方法 |
| |
| 引用本文： | 谭月胜,孙汉旭,贾庆轩,陈佶,张秋豪.空间机械臂的一种自标定方法[J].宇航学报,2006,27(4):740-744. |
| |
| 作者姓名： | 谭月胜 孙汉旭 贾庆轩 陈佶 张秋豪 |
| |
| 作者单位： | 1. 北京航空航天大学,机械工程及自动化学院,北京,100083
2. 北京邮电大学,自动化学院,北京,100876 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 由于各种因素的影响，在轨机械臂的结构参数势必不同于其在地面时的结构参数。为提高机械臂作业时的定位精度，必须对其进行重新标定。提出了一种自带CCD相机的空间机械臂结构参数的自标定方法，解决了在太空中无外部测量设备参与时机械臂的标定问题，使机械臂末端操作器的精确定位成为可能。仿真结果验证了所提方法的正确性。
|
| 关 键 词： | 自标定 空间机械臂 测量构型 |
| 文章编号： | 1000-1328（2006）03-0740-05 |
| 收稿时间： | 08 15 2005 12:00AM |
| 修稿时间： | 2005-08-152006-02-20 |
A Self-Calibration Method for a Space Manipulator |
| |
| TAN Yue-sheng,SUN Han-xu,JIA Qing-xuan,CHEN Ji,ZHANG Qiu-hao.A Self-Calibration Method for a Space Manipulator[J].Journal of Astronautics,2006,27(4):740-744. |
| |
| Authors: | TAN Yue-sheng SUN Han-xu JIA Qing-xuan CHEN Ji ZHANG Qiu-hao |
| |
| Institution: | 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics Beijing 100083, China; 2. School of Automation, Beijing University of Post and Telecommunication, Beijing 100876, China |
| |
| Abstract: | The parameters of a space manipulator on-orbit are unavoidably different from those before it was sent to the outer space for the effect of various factors.It is necessary to re-calibrate it to improve its' orientation accuracy.A self-calibration method was provided to identify the structure parameter for a space robot equipped with two CCD cameras,which present a solution for a space robot calibration without using extra measurement device,and thus make it possible to pose the end effector precisely.Simulation result verifies the correctness of the proposed method. |
| |
| Keywords: | Self-calibration Space manipulator Measurement configuration |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
