空间绳系机器人超近距视觉伺服控制方法
|
摘要
针对空间绳系机器人超近距视觉伺服中相对位姿无法测量的问题,在建立机器人视觉系统非线性量测模型的基础上,提出一种基于直线跟踪的混合视觉伺服控制方法,利用帆板支架边缘线图像特征跟踪相对位姿,利用基座具有较大误差的量测信息保证控制系统的稳定性。仿真试验结果表明:在仅能获得帆板支架边缘线图像信息的情况下,设计的超近距逼近控制方法能够保证空间绳系机器人稳定到达目标卫星的帆板支架处,并满足捕获条件。
In the short distance visual servo approach,the solar panel bracket may not be completely imaged for the constrained visual field of camera,which will result in the lack of image features. Under the condition of the incomplete measurement information,the nonlinear measurement model of tethered space robot( TSR) is derived. By using the image feature of the solar panel bracket and the platform measurement information,a mixed visual servo control method is proposed. The edge line images of the solar panel bracket are used to track the relative position and attitude between TSR and the target. The platform measurement information,which has a large margin of error,is used to ensure the stability of the control system. The simulation results show that the gripper of TSR should reach the solar panel bracket of the target satellite and meet the capture conditions. The visual servo control method is effective.
In the short distance visual servo approach,the solar panel bracket may not be completely imaged for the constrained visual field of camera,which will result in the lack of image features. Under the condition of the incomplete measurement information,the nonlinear measurement model of tethered space robot( TSR) is derived. By using the image feature of the solar panel bracket and the platform measurement information,a mixed visual servo control method is proposed. The edge line images of the solar panel bracket are used to track the relative position and attitude between TSR and the target. The platform measurement information,which has a large margin of error,is used to ensure the stability of the control system. The simulation results show that the gripper of TSR should reach the solar panel bracket of the target satellite and meet the capture conditions. The visual servo control method is effective.
引文
[1]陈小前,袁建平,姚雯,等.航天器在轨服务技术[M].北京:中国宇航出版社,2009:94-97.
[2]Bischof B,Kerstein L,Starke J,et al.Roger-Robotic geostationary orbit restorer[J].American Astronautical Society,Scientific Technology Series,2005,109:183-193.
[3]徐秀栋,黄攀峰,孟中杰,等.空间绳系机器人姿态容错控制方法研究[J].宇航学报,2012,33(8):1096-1103.[Xu Xiu-dong,Huang Pan-feng,Meng Zhong-jie,et al.Research on attitude fault tolerant control method for space tethered robot[J].Journal of Astronautics,2012,33(8):1096-1103.]
[4]Yuga N,Fumiki S,Shinichi N.Guidance and control of“tethered retriever”with collaborative tension-thruster control for future on-orbit service missions[C].The 8th International Symposium on Artificial Intelligence:Robotics and Automation in Space-ISAIRAS,Munich,Germany,September 5-8,2005.
[5]Masahiro N,Nenchev D N,Aasaru U.Tethered robot casting using a spacecraft-mounted manipulator[J].Journal of Guidance,Control,and Dynamics,2001,24(4):827-833.
[6]Osamu M,Saburo M.Coordinated control of tethered satellite cluster systems[C].AIAA Guidance,Navigation,and Control Conference and Exhibit,Montreal,Canada,August 6-9,2001.
[7]Janabi-Sharifi F,Deng L F,Wilson W J.Comparison of basic visual servo methods[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):967-983.
[8]徐文福,梁斌,李成,等.基于立体视觉的航天器相对位姿测量方法与仿真研究[J].宇航学报,2009,30(4):1421-1428.[Xu Wen-fu,Liang Bin,Li Cheng,et al.The approach and simulation study of the relative pose measurement between spacecrafts based on stereo vision[J].Journal of Astronautics,2009,30(4):1421-1428.]
[9]Xu W F,Liang B,Li C,Xu Y S.Autonomous rendezvous and robotic capturing of non-cooperative target in space[J].Robotica,2010,28(5):705-718.
[10]张国亮.空间机器人自主视觉伺服控制策略[J].华中科技大学学报(自然科学版),2012,40(8):103-107.[Zhang Guo-liang.Strategy of autonomous visual servo control for space robot[J].Huanzhong Univ.of Sci.&Tech.(Natural Science Edition),2012,40(8):103-107.]
[11]Corke P I,Hutchinson S A.A new partitioned approach to image-based visual servo control[J].IEEE Transactions on Robotics and Automation,2001,17(4):507-515.
[12]Bourquardez O,Mahony R,Guenard N.Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle[J].IEEE Transactions on Robotics,2009,25(3):743-749.
[13]Wang Y,Lang H X,Clarence W S.A hybrid visual servo controller for robust grasping by wheeled mobile robots[J].IEEE/ASME Transactions on Mechatronics,2010,15(5):757-769.
[14]张雪波,方勇纯,刘玺.移动机器人自适应视觉伺服镇定控制[J].控制理论与应用,2010,27(9):1123-1130.[Zhang Xue-bo,Fang Yong-chun,Liu Xi.Adaptive visual servo regulation of mobile robots[J].Control Theory&Applications,2010,27(9):1123-1130.]
[15]Malis E,Chaumette F,Boudet S.2-1/2-D visual servoing[J].IEEE Transactions on Robotics and Automation,1999,15(2):238-250.
[16]覃勋辉,马戎,付维平,等.一种基于梯度的直线段检测算法[J].光子学报,2012,41(2):205-209.[Qin Xun-hui,Ma Rong,Fu Wei-ping,et al.A line segment detection algorithm based on grad[J].Acta Photonica Sinica,2012,41(2):205-209.]
[2]Bischof B,Kerstein L,Starke J,et al.Roger-Robotic geostationary orbit restorer[J].American Astronautical Society,Scientific Technology Series,2005,109:183-193.
[3]徐秀栋,黄攀峰,孟中杰,等.空间绳系机器人姿态容错控制方法研究[J].宇航学报,2012,33(8):1096-1103.[Xu Xiu-dong,Huang Pan-feng,Meng Zhong-jie,et al.Research on attitude fault tolerant control method for space tethered robot[J].Journal of Astronautics,2012,33(8):1096-1103.]
[4]Yuga N,Fumiki S,Shinichi N.Guidance and control of“tethered retriever”with collaborative tension-thruster control for future on-orbit service missions[C].The 8th International Symposium on Artificial Intelligence:Robotics and Automation in Space-ISAIRAS,Munich,Germany,September 5-8,2005.
[5]Masahiro N,Nenchev D N,Aasaru U.Tethered robot casting using a spacecraft-mounted manipulator[J].Journal of Guidance,Control,and Dynamics,2001,24(4):827-833.
[6]Osamu M,Saburo M.Coordinated control of tethered satellite cluster systems[C].AIAA Guidance,Navigation,and Control Conference and Exhibit,Montreal,Canada,August 6-9,2001.
[7]Janabi-Sharifi F,Deng L F,Wilson W J.Comparison of basic visual servo methods[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):967-983.
[8]徐文福,梁斌,李成,等.基于立体视觉的航天器相对位姿测量方法与仿真研究[J].宇航学报,2009,30(4):1421-1428.[Xu Wen-fu,Liang Bin,Li Cheng,et al.The approach and simulation study of the relative pose measurement between spacecrafts based on stereo vision[J].Journal of Astronautics,2009,30(4):1421-1428.]
[9]Xu W F,Liang B,Li C,Xu Y S.Autonomous rendezvous and robotic capturing of non-cooperative target in space[J].Robotica,2010,28(5):705-718.
[10]张国亮.空间机器人自主视觉伺服控制策略[J].华中科技大学学报(自然科学版),2012,40(8):103-107.[Zhang Guo-liang.Strategy of autonomous visual servo control for space robot[J].Huanzhong Univ.of Sci.&Tech.(Natural Science Edition),2012,40(8):103-107.]
[11]Corke P I,Hutchinson S A.A new partitioned approach to image-based visual servo control[J].IEEE Transactions on Robotics and Automation,2001,17(4):507-515.
[12]Bourquardez O,Mahony R,Guenard N.Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle[J].IEEE Transactions on Robotics,2009,25(3):743-749.
[13]Wang Y,Lang H X,Clarence W S.A hybrid visual servo controller for robust grasping by wheeled mobile robots[J].IEEE/ASME Transactions on Mechatronics,2010,15(5):757-769.
[14]张雪波,方勇纯,刘玺.移动机器人自适应视觉伺服镇定控制[J].控制理论与应用,2010,27(9):1123-1130.[Zhang Xue-bo,Fang Yong-chun,Liu Xi.Adaptive visual servo regulation of mobile robots[J].Control Theory&Applications,2010,27(9):1123-1130.]
[15]Malis E,Chaumette F,Boudet S.2-1/2-D visual servoing[J].IEEE Transactions on Robotics and Automation,1999,15(2):238-250.
[16]覃勋辉,马戎,付维平,等.一种基于梯度的直线段检测算法[J].光子学报,2012,41(2):205-209.[Qin Xun-hui,Ma Rong,Fu Wei-ping,et al.A line segment detection algorithm based on grad[J].Acta Photonica Sinica,2012,41(2):205-209.]