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为了克服时延对空间机器人遥操作的影响,提出了利用视觉技术辅助遥操作进行卫星自维护的方法.针对遥操作数据传输滞后的问题,设计并实现了一种基于视觉的共享控制策略,该策略将维护任务分为自由空间控制与自主视觉伺服控制.在自由空间控制阶段,通过3D图形预测仿真以及实时反馈的视频流,提高了遥操作者的视觉临场感.在自主控制阶段,采用冗余特征视觉伺服控制,克服了系统对标定精度的依赖性,从而提高了整个系统的智能化程度.最后,通过对典型的卫星维护任务实例的分析,验证了该方法的有效性.
In order to overcome the influence of delay on the teleoperation of space robots, a visual technology-based approach to satellite self-maintenance is proposed.Aiming at the problem of teleoperation data lag, a vision-based sharing control strategy is designed and implemented, The strategy divides the maintenance task into free space control and autonomous visual servoing control.In the stage of free space control, the 3D visual prediction simulation and real-time feedback video stream improve the telepresence visual sense.In the autonomous control phase, I feature visual servoing control to overcome the dependence of the system on the calibration accuracy, thus improving the intelligence of the whole system.Finally, through the analysis of a typical satellite maintenance task instance, the effectiveness of the method is verified.