Teleoperation method and system for grabbing objects using space mechanical arm based on simulation

Abstract

The invention provides a teleoperation system for grabbing objects using space mechanical arm based on simulation, which comprises a data source acquisition module, a middle piece module, a target tracking and positioning module, an operation planning module, and a motion simulation module. Through an insertion piece type structuring strategy, it is possible to realize the real time acquisition of a plurality of different data sources by the system and to realize the inconsistency adjustment between data acquisition and data processing speed. Through the use of a rapid tracking algorithm, the photographing camera is ensured to track the target in real time; and through the pose measurement algorithm, the synchronization of the poses between a real target and a simulated target could be ensured. The invention provides a testing platform for the visual positioning algorithm in the dynamic target grabbing process by a space mechanism arm and can demonstrate the grabbing process through a three-dimensional visualized manner to assist the operation men on the ground to complete the control over the grabbing process.

Description

technical field [0001] The invention relates to the field of teleoperation of manipulators, in particular to a simulation-based teleoperation method and system for a space manipulator to capture a target. Background technique [0002] The space manipulator is an indispensable key equipment for the construction and maintenance of the space station. It can complete various tasks such as assembly and disassembly of spacecraft, maintenance and repair, fuel delivery, satellite release and recovery, and scientific exploration experiments in the space station on orbit. It can reduce extravehicular activities of astronauts, avoid life danger and save cost of going out of the cabin. my country will complete the construction of the manned space station engineering system around 2022, break through and master the long-term manned flight technology in near-Earth space, carry out scientific and technological experiments in near-Earth space, and enhance the ability to comprehensively deve...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a way to measure the position and posture of the end of the manipulator relative to the captured target by using the image taken by the vision system carried by the space manipulator, and then predict the movement trajectory of the manipulator, and assist the ground teleoperator to complete the control decision-making Simulation method to solve the problem that it is difficult for teleoperators to make effective decisions due to the inability to predict the relative state of the space manipulator and the target

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