基于手眼视觉的空间末端操作器的轨迹规划  

Movement programming of space robot′s end-effector based on vision

作　　者：朱映远[1] 倪风雷[1] 史士财[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机电工程》2012年第7期759-764,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家高技术研究发展计划("863"计划)资助项目(2009AA******)

摘　　要：空间机器人将用于对空间目标的跟踪、接近、包络和抓捕,由于机器人和抓捕目标均处于无约束自由飘浮状态,因此顺利进入捕获区并完成抓捕较为困难。针对漂浮机器人和漂浮目标对接困难的问题,利用末端操作器上的手眼视觉作为传感器系统对末端操作器的运行轨迹加以控制;利用动量守恒和动量矩守恒两大基本定理,推导了手眼视觉引导下空间机器人末端操作器为达到期望捕获位姿的轨迹规划,使得末端操作器可以规避末端操作器手指外形实现对目标的无接触跟踪和包络;利用气浮平台、被动6自由度模拟器实现了地面模拟空间失重环境,并在该试验平台上试验了机器人末端操作器对漂浮目标的跟踪和捕获。研究结果表明,基于视觉的轨迹规划可以协助机器人完成对漂浮目标的跟踪和抓捕。The space robot should be used to track,close and capture the target.It is difficult for the robot to reach the capture range because the robot and the aim object are floating all.In order to help the robot to do the complicated movement and connect the floating object,the vision was fixed on the end-effector to control the robot’s movement track.The movement programming of the end-effector needed to move to capture the target was concluded with the lead by vision based on the conservation of momentum.So the fingers of the space effector could avoid touch with the target during the robot tracked and closed the aid.The zero gravity environment which the tracking and capture of robot could be examined in,was simulated by the air-foot and 6-dof simulator.The results indicate that the robot can track and capture the floating object by the help of the movement planning based the vision.

关 键 词：末端操作器 轨迹规划 视觉 抓捕 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置] TM93[自动化与计算机技术—控制科学与工程]