机器人在轨装配无标定视觉伺服对准方法  

Uncalibrated visual servo of space robots performing on-orbit assembly alignment task

作　　者：贾庆轩[1] 段嘉琪 陈钢[1] JIA Qingxuan;DUAN Jiaqi;CHEN Gang(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《航空学报》2021年第6期617-626,共10页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(51975059);中央高校基本科研业务费专项资金(2019PTB-012)。

摘　　要：针对在轨装配过程中机器人"手眼"关系无法进行有效标定及机器人系统和被操作物惯性参数不定的情况,在传统的无标定视觉伺服基础上设计了深度估计器,基于机器人和图像运动的测量数据在线估计目标特征的深度值,并在机器人关节控制环中设计滑模控制器实时控制机器人关节运动,根据反馈图像信息纠正系统误差完成对准跟踪,通过仿真验证了方法的有效性。所提的无标定视觉伺服对准方法使机器人在装配过程中免去了复杂的"手眼"关系的标定程序,克服了机器人系统及被操作物惯性参数不确定性给装配精度造成的影响,提高了"手眼协调"的鲁棒性,保证机器人能够在复杂的太空环境下完成在轨装配任务。In the on-orbit assembly process of space robots,the relationship between their "hands" and "eyes" cannot be effectively calibrated,and the inertial parameters of the robot and the object being operated are variable,which may lead to assembly failure.To solve this problem,we design a depth estimator based on the traditional uncalibrated visual servo.It can estimate the depth value of the target feature online using the measurement data of the robot and the image motion.A sliding mode controller is designed in the space robot joint control ring to control the robot joint motion in real time,and the system error is corrected according to the feedback image information to complete alignment and tracking.Finally,the effectiveness of the method is verified by simulation.The uncalibrated visual servo alignment method proposed in this paper can free the space robot from the complicated calibration program,thereby overcoming the influence of uncertain inertial parameters on the assembly accuracy and improving the robustness of "hand-eye coordination" to ensure successful completion of on-orbit assembly tasks of the space robot in complex space environments.

关 键 词：在轨装配 空间机器人 无标定视觉伺服 深度估计 参数不确定性 滑模控制 

分 类 号：V476.1[航空宇航科学与技术—飞行器设计] TH17[机械工程—机械制造及自动化]