CN107351084A - A kind of space manipulator hand system error correcting method of oriented for maintenance task - Google Patents

A kind of space manipulator hand system error correcting method of oriented for maintenance task Download PDF

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Publication number
CN107351084A
CN107351084A CN201710661192.4A CN201710661192A CN107351084A CN 107351084 A CN107351084 A CN 107351084A CN 201710661192 A CN201710661192 A CN 201710661192A CN 107351084 A CN107351084 A CN 107351084A
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CN107351084B (en
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樊春光
谢宗武
刘伊威
刘宏
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39214—Compensate tracking error by using model, polynomial network

Abstract

A kind of space manipulator hand system error correcting method of oriented for maintenance task, belongs to manned spacecraft overall design technique field.Present invention seek to address that when multioperation terminal performs same task jointly, the error accumulation problem as caused by alignment error, transmitting vibration, gravity unloading etc. be present.The present invention method and step be：Step 1：Position the posture information of maintenance tool；Step 2：Maintenance tool coordinate system is modified using trick camera.Error correcting method proposed by the present invention is modified to No. two space manipulator hand systems of Heavenly Palace using site error caused by global camera and the in-orbit operation task of trick camera completion, it is ensured that smoothly completes maintainable technology on-orbit task.

Description

A kind of space manipulator hand system error correcting method of oriented for maintenance task
Technical field
The present invention relates to a kind of space manipulator hand system error correcting method, belong to manned spacecraft overall design technique Field.
Background technology
With the further increase of mankind's space operation, the in-orbit maintenance and repair operation of Space Facilities will be more and more important, Conventional robot for space, end effector, operation instrument towards single operation task etc. can not meet to require, it is anticipated that The development trend of future space robot：(1) single operation task → a variety of operational requirements, grasped by simple grasping, carrying etc. Make to change to accurate operations such as module replacing, filling；(2) cooperative target → noncooperative target, operation task, the more of target are operated Sample, uncertainty require that robot has higher compatibility, including target identification, grasping and operating method etc.；(3) it is single Instrument → a variety of operation instruments, the variation of operation task determine the diversity of in-orbit operation instrument, operating method and operation Instrument matches；(4) single mechanical arm → multi-arm systems, multiple arm system, cooperation, illumination, vision, grasping and operation are completed Etc. the multinomial division of labor；(5) rigid grasping → intelligent flexible operation, mechanical arm, end effector instrument, is realized to mesh based on Shared control Target grasps and operation, the success rate and security for overcoming influence, raising of the position error to operation to operate；(6) basic exercise Perceive → it is a variety of perceive simultaneously deposit, the position sensor as necessary to realizing position-force control merely, to torque, electric current, temperature, The ability to work of future space robot will be greatly improved in a variety of perceived direction development such as vision, vision and its Measurement Algorithm；(7) Preprogrammed operation → telepresenc remote operating, based on a variety of perception interactives, time delay correction algorithm etc., spacefarer is out of cabin or the skill of ground Art personnel mechanical arm outside the control cabinet of ground.
The content of the invention
It is an object of the invention to provide a kind of space manipulator hand system error correcting method of oriented for maintenance task, it Using a kind of track correct strategy towards in-orbit maintenance task in Laboratory Module, to ensure mechanical arm hand system ending coordinates system It is completely the same with maintenance tool coordinate system.
Present invention seek to address that when multioperation terminal performs same task jointly, exist and vibrated, again by alignment error, transmitting Error accumulation problem caused by power unloading etc..Error correcting method proposed by the present invention is to No. two space manipulator hand systems of Heavenly Palace It is modified using site error caused by global camera and the in-orbit operation task of trick camera completion, it is ensured that smoothly complete Rail maintenance task.
To achieve the above object, the present invention adopts the technical scheme that：
A kind of space manipulator hand system error correcting method of oriented for maintenance task, described method include following step Suddenly：
Step 1：Position the posture information of maintenance tool；
In order to provide the posture information of maintenance tool, following some coordinate systems are defined first, to solve maintenance tool Description under world coordinate system；
TB--- mechanical arm base coordinate system
TE--- mechanical arm tail end coordinate system
TG--- global camera coordinates system
TH--- trick camera coordinates system
TM--- on-orbit calibration plate coordinate system
TT--- maintenance tool coordinate system
Above-mentioned coordinate system is distributed in Laboratory Module, and global camera is fixed on experiment cabin top, and one shares two, respectively Global camera A and global camera B are defined as, manipulator is arranged on the end of mechanical arm, the installation of trick camera by quick change flange In the wrist of mechanical arm, maintenance unit is arranged on the underface of mechanical arm hand system, and scaling board is positioned at maintenance unit center, dimension Repairing on unit has two captive screw；
Global camera is responsible for the position of positioning maintenance tool electric hand drill in real time, and the manipulator installed in mechanical arm tail end utilizes The positional information that global camera provides grasps electric hand drill, and visual servo is guided directly over manipulator to captive screw, mechanical arm While moving downward compression captive screw, while pulling electric hand drill trigger, subsequent visual servo guides manipulator by maintenance mans Have foldback and return initial position；
In order to ensure mechanical arm hand system end fully contacts with the maintenance tool complex mating surface operated, use first Teaching mode, manipulator is fitted in the complex mating surface of instrument, now：
TT=TC1·TE0 (1)
TC1For manipulator normality virtually grasp central point and manipulator in complex mating surface grasp central point between Bias matrix；TE0For mechanical arm tail end coordinate system under normality configuration；
The position of maintenance tool and posture need to be determined by global camera, therefore, it is necessary first to determine that maintenance tool exists Description in global camera coordinates system, and then reconvert describes to world coordinate system；
Four target points are posted in maintenance tool side, so, solve description of the maintenance tool in world coordinate system PNP problems have been converted to, the general principle of PNP problems is briefly described：
Simply say, PNP problems are exactly N number of picture by N number of characteristic point in world coordinate system and global camera imaging Point, projection relation between the two is calculated, finally obtain object pose or global camera pose by feature point description；
Assuming that global image center is located at point O, characteristic point P1,P2,P3...PN；
During N=1, an only characteristic point, might as well set up an office P1Positioned at the centre of global camera image imaging, then OP1Just It is the Z axis in global camera coordinates system, now global camera is towards P1Point, global camera position may be with P1For the centre of sphere, OP1On the sphere of radius, now to there is numerous solution；
During N=2, two characteristic point P1,P2A triangle, the one of side P of triangle are constituted with O points1P2Length Degree is, it is known that vectorial OP1And OP2Direction, it is known that OP therefore can be calculated1、OP2Length, make R1=OP1,R2=OP2, with P1 For the center of circle, R1Ball, which is made, for radius is designated as ball OA, with P2For the center of circle, R2Ball, which is made, for radius is designated as ball OB；
Now global camera is located at ball OAWith ball OBIntersection at, have numerous solution；
During N=3, one has been had more on the basis of N=2 with P3For centre of sphere R3For the ball O of radiusC, global camera is positioned at three The intersection of individual sphere, should now there are four solutions, one of solution is exactly the actual location of global camera, but can not determine Specifically which solution gone out；
During N=4, during due to N=3, four solutions can be calculated by formula (2), obtain four rotations, translation matrix, its In (x, y) be spatial point P image point coordinates, (fx,fy) for X-axis, the amplification coefficient of Y direction, (cx,cy) it is optical axis center The coordinate of point, (rij,tk)I, j, k=1,2,3For global Camera extrinsic, (x, y, z) is positions of the point P under world coordinate system；
The world coordinate system of 4th point is substituted into formula (1), its four on image projection can be obtained, wherein throwing That minimum solution of shadow error, the normal solution exactly needed；
Step 2：Maintenance tool coordinate system is modified using trick camera；
When error occurs, it is necessary to maintenance tool coordinate system is modified using trick camera, corrected used in error Scaling board near the middle position of maintenance unit, demarcation Board position and maintenance tool initial position are by normal matrix TC2Carry out Conversion：
TM=TC2·TT (3)
Convolution (1)：
TM=TC1·TC2·TE (4)
Wherein TC2The transformation matrix between scaling board and maintenance tool initial position is represented, will according to the design of maintenance unit Ask, it is believed that TC2For normal matrix；
When performing task first, by manipulator teaching on instrument complex face, the joint position of record mechanical arm now passes Sensor data, following mobile mechanical arm to its normal orientation configuration, utilize the posture information of trick cameras record now scaling board； There are following three kinds of situations to cause manipulator crawl maintenance tool failure：
1. the debugging stage needs being dismounted for multiple times mechanical arm, maintenance panel, this can bring certain alignment error；
2. it can cause relative motion occurs between mechanical arm body and maintenance unit in the vibration during rocket launching；
3. the gravity unloading under space environment, amount of deflection can be brought to change nacelle riser, maintenance unit；
Therefore following modification method is used, this method is described in detail below：
(1) under ground environment, the ideal movements of mechanical arm hand system progress task operating are obtained by kinematics teaching Track, and be indicated using position and posture of the mechanical arm tail end on a series of key position points；
(2) when ground experiment and Space Experiments start, robot motion to same fixed position and trick phase is used Machine measurement is fixed on the pose of scaling board on maintenance unit, and then calculates maintenance unit indirectly in ground environment and space environment Relative shift；
(3) the task track of mechanical arm hand system is modified, it is ensured that mechanical arm tail end and the maintenance tool operated Relative position it is constant；
It is as follows to define related position orientation relation：
--- transposed matrix of the demarcation Board position in Space Experiments relative to ground experiment；
--- the pose of trick camera measurement scaling board in ground experiment；
--- the pose of trick camera measurement scaling board in Space Experiments；
Therefore：
In formula (6)Represent relative movement of the maintenance tool between space environment and ground environment, maintenance tool and Scaling board is all placed on maintenance unit, and according to technical requirements, it is larger to repair the rigidity of unit, according to formula (3) it is considered that TC2Matrix does not change with gravity unloading, i.e.,：
Therefore formula (6) can be write as：
The purpose of this method, exactly in order to ensure the relative pose of robot end and workpiece, i.e.,：
To sum up described, new mechanical arm tail end position can be expressed as relative to the pose of mechanical arm pedestal：
--- the mechanical arm tail end location track key point that ground experiment obtains；
--- the mechanical arm tail end that accurate measurement obtains relative to maintenance tool position auto―control；
From formula (10), description of the new mechanical arm tail end position under world coordinate system completely can be by known Matrix is indicated, and a known matrix part is calculated by the ground experiment of synchronization, and another part is then to utilize hand The scaling board positional information of eye camera collection is calculated.
It is of the invention to be relative to the beneficial effect of prior art：
1st, technical scheme considers influence of a variety of errors finally to maintenance tool positioning precision, such as changer The alignment error of tool arm, maintenance panel；Mechanical arm pedestal mounting flange diastema error caused by vibration during rocket launching；Space Nacelle riser, maintenance platform amount of deflection change the influence to maintenance tool positioning precision caused by gravity unloading in environment, pass through Coordinate system multiple conversions, it is ensured that the accumulated error of the above-mentioned all kinds of errors of amendment.
2nd,, can not when accidentally change occurs for base position when operating method of the invention solves execution space tasks Mechanical arm is demarcated by the calibration facility such as API laser scanners scene, by set forth herein method, can quickly repair The influence of just all kinds of errors, this method principle is simple, easily operated, possesses the condition of spacefarer's independent operation, and corrects effect Fruit is obvious.
Brief description of the drawings
Fig. 1 is each coordinate position schematic diagram of space manipulator hand system of the present invention；
Fig. 2 is coordinate system relation transition diagram when the space manipulator hand system of the present invention performs maintenance task, wherein including Space and two kinds of ground situation, the coordinate system description in the corresponding step 1 of letter in Fig. 2, special, T 'HRepresent in space Trick camera coordinates system, T 'TRepresent the maintenance tool coordinate system in space, T 'M' represent scaling board coordinate system in space.
Embodiment
Error correcting method shown in the present invention is elaborated below in conjunction with accompanying drawing, but the present invention is not limited only to Following embodiment.
Embodiment：The space manipulator hand system error that present embodiment discloses a kind of oriented for maintenance task is repaiied Correction method, described method comprise the following steps：
Step 1：Position the posture information of maintenance tool；
As shown in figure 1, in order to provide the posture information of maintenance tool, following some coordinate systems are defined first, to solve Go out description of the maintenance tool under world coordinate system；
TB--- mechanical arm basis coordinates system
TE--- mechanical arm tail end coordinate system
TG--- global camera coordinates system
TH--- trick camera coordinates system
TM--- on-orbit calibration plate coordinate system
TT--- maintenance tool coordinate system
Above-mentioned coordinate system is distributed in Laboratory Module, and global camera is fixed on experiment cabin top, and one shares two, respectively Global camera A and global camera B are defined as, (quick change flange refers to manipulator installed in the end of mechanical arm by quick change flange Specific bindiny mechanism between mechanical arm and manipulator, mechanical arm hand system is formed therewith), trick camera is arranged on machinery The wrist of arm, maintenance unit are arranged on the underface of mechanical arm hand system, and scaling board repairs unit positioned at maintenance unit center On have two captive screw (this subtask exactly by captive screw from maintenance unit on screw)；
Global camera is responsible for the position of positioning maintenance tool electric hand drill in real time, and the manipulator installed in mechanical arm tail end utilizes The positional information that global camera provides grasps electric hand drill, and visual servo is guided directly over manipulator to captive screw, mechanical arm While moving downward compression captive screw, while pulling electric hand drill trigger, subsequent visual servo guides manipulator by maintenance mans Have foldback and return initial position；
In order to ensure mechanical arm hand system end fully contacts with the maintenance tool complex mating surface operated, use first Teaching mode, manipulator is fitted in the complex mating surface of instrument, now：
TT=TC1·TE0 (1)
TC1For manipulator normality virtually grasp central point and manipulator in complex mating surface grasp central point between Bias matrix；TE0For mechanical arm tail end coordinate system under normality configuration, (described normality configuration refers to that mechanical arm performs every time and appointed The initial configuration that will be kept before business, complex mating surface are to ensure that stabilization captures and the curved surface of special processing, make manipulator When performing crawl task, it is bonded as far as possible with being crawled object, it is ensured that passive grasping stability)；
The position of maintenance tool and posture need to be determined by global camera, therefore, it is necessary first to determine that maintenance tool exists Description in global camera coordinates system, and then reconvert describes to world coordinate system；
Four target points are posted in maintenance tool side, so, solve description of the maintenance tool in world coordinate system PNP problems have been converted to, the general principle of PNP problems is briefly described：
Simply say, PNP problems are exactly N number of picture by N number of characteristic point in world coordinate system and global camera imaging Point, projection relation between the two is calculated, finally obtain object pose or global camera pose by feature point description；
Assuming that global image center is located at point O, characteristic point P1,P2,P3...PN；
During N=1, an only characteristic point, might as well set up an office P1Positioned at the centre of global camera image imaging, then OP1Just It is the Z axis in global camera coordinates system, now global camera is towards P1Point, global camera position may be with P1For the centre of sphere, OP1On the sphere of radius, now to there is numerous solution；
During N=2, two characteristic point P1,P2A triangle, the one of side P of triangle are constituted with O points1P2Length Degree is, it is known that vectorial OP1And OP2Direction, it is known that OP therefore can be calculated1、OP2Length, make R1=OP1,R2=OP2, with P1 For the center of circle, R1Ball, which is made, for radius is designated as ball OA, with P2For the center of circle, R2Ball, which is made, for radius is designated as ball OB；
Now global camera is located at ball OAWith ball OBIntersection at, have numerous solution；
During N=3, one has been had more on the basis of N=2 with P3For centre of sphere R3For the ball O of radiusC, global camera is positioned at three The intersection of individual sphere, should now there are four solutions, one of solution is exactly the actual location of global camera, but can not determine Specifically which solution gone out；
During N=4, during due to N=3, four solutions can be calculated by formula (2), obtain four rotations, translation matrix, its In (x, y) be spatial point P image point coordinates, (fx,fy) for X-axis, the amplification coefficient of Y direction, (cx,cy) it is optical axis center The coordinate of point, (rij,tk)I, j, k=1,2,3For global Camera extrinsic, (x, y, z) is positions of the point P under world coordinate system；
The world coordinate system of 4th point is substituted into formula (1), its four on image projection can be obtained, wherein throwing That minimum solution of shadow error, the normal solution exactly needed；
Step 2：Maintenance tool coordinate system is modified using trick camera；
When error occurs, it is necessary to maintenance tool coordinate system is modified using trick camera, corrected used in error Scaling board near the middle position of maintenance unit, demarcation Board position and maintenance tool initial position are by normal matrix TC2Carry out Conversion：
TM=TC2·TT (3)
Convolution (1)：
TM=TC1·TC2·TE (4)
Wherein TC2The transformation matrix between scaling board and maintenance tool initial position is represented, will according to the design of maintenance unit Ask, it is believed that TC2For normal matrix；
When performing task first, by manipulator teaching on instrument complex face, the joint position of record mechanical arm now passes Sensor data, following mobile mechanical arm to its normal orientation configuration, utilize the posture information of trick cameras record now scaling board (meaning using such a demarcation mode is：It is rigid contact between manipulator and maintenance tool, along with depositing for complex face , therefore the task is higher to position accuracy demand)；There are following three kinds of situations to cause manipulator crawl maintenance tool failure：
1. the debugging stage needs being dismounted for multiple times mechanical arm, maintenance panel, this can bring certain alignment error；
2. it can cause relative motion occurs between mechanical arm body and maintenance unit in the vibration during rocket launching；
3. the gravity unloading under space environment, amount of deflection can be brought to change nacelle riser, maintenance unit；
(so while the presence of three cases above, if directly control machinery arm hand system grasps maintenance tool, can increase The possibility of mission failure is grasped greatly, under serious conditions maintenance tool or manipulator can damage)；
Therefore following modification method is used, this method is described in detail below：
(1) under ground environment, the ideal movements of mechanical arm hand system progress task operating are obtained by kinematics teaching Track, and be indicated using position and posture of the mechanical arm tail end on a series of key position points, key position here Point has following implication：During whole tasks carrying, it is divided into the grand motion of some items, is divided into some items again in the grand motion of each single item Micromotion, key position point describe start position and the final position of each micromotion, and the terminal of previous micromotion Position is also the start position of the latter micromotion simultaneously；
(2) when ground experiment and Space Experiments start, robot motion to same fixed position and trick phase is used Machine measurement is fixed on the pose of scaling board on maintenance unit, and then calculates maintenance unit indirectly in ground environment and space environment Relative shift；
(3) the task track of mechanical arm hand system is modified, it is ensured that mechanical arm tail end and the maintenance tool operated Relative position it is constant；
As shown in Fig. 2 it is as follows to define related position orientation relation：
--- transposed matrix of the demarcation Board position in Space Experiments relative to ground experiment；
--- the pose of trick camera measurement scaling board in ground experiment；
--- the pose of trick camera measurement scaling board in Space Experiments；
Therefore：
In formula (6)Represent relative movement of the maintenance tool between space environment and ground environment, maintenance tool and Scaling board is all placed on maintenance unit, and according to technical requirements, it is larger to repair the rigidity of unit, according to formula (3) it is considered that TC2Matrix does not change with gravity unloading, i.e.,：
Therefore formula (6) can be write as：
The purpose of this method, exactly in order to ensure the relative pose of robot end and workpiece, i.e.,：
To sum up described, new mechanical arm tail end position can be expressed as relative to the pose of mechanical arm pedestal：
--- the mechanical arm tail end location track key point that ground experiment obtains；
--- the mechanical arm tail end that accurate measurement obtains relative to maintenance tool position auto―control；
From formula (10), description of the new mechanical arm tail end position under world coordinate system completely can be by known Matrix is indicated, and a known matrix part is calculated by the ground experiment of synchronization, and another part is then to utilize hand The scaling board positional information of eye camera collection is calculated and (has the characteristics of principle is simple, easily operated, reliability is high).

Claims (1)

  1. A kind of 1. space manipulator hand system error correcting method of oriented for maintenance task, it is characterised in that：Described method bag Include following steps：
    Step 1：Position the posture information of maintenance tool；
    In order to provide the posture information of maintenance tool, following some coordinate systems are defined first, it is alive to solve maintenance tool Description under boundary's coordinate system；
    TB--- mechanical arm base coordinate system
    TE--- mechanical arm tail end coordinate system
    TG--- global camera coordinates system
    TH--- trick camera coordinates system
    TM--- on-orbit calibration plate coordinate system
    TT--- maintenance tool coordinate system
    Above-mentioned coordinate system is distributed in Laboratory Module, and global camera is fixed on experiment cabin top, and one shares two, defines respectively For global camera A and global camera B, manipulator is arranged on the end of mechanical arm by quick change flange, and trick camera is arranged on machine The wrist of tool arm, maintenance unit are arranged on the underface of mechanical arm hand system, and scaling board is single positioned at maintenance unit center, maintenance There are two captive screw on machine；
    Global camera is responsible for the position of positioning maintenance tool electric hand drill in real time, and the manipulator installed in mechanical arm tail end utilizes the overall situation The positional information that camera provides grasps electric hand drill, and visual servo is guided directly over manipulator to captive screw, and mechanical arm is on one side Compression captive screw is moved downward, while pulling electric hand drill trigger, subsequent visual servo guiding manipulator returns maintenance tool Send initial position back to；
    In order to ensure mechanical arm hand system end fully contacts with the maintenance tool complex mating surface operated, first using teaching Mode, manipulator is fitted in the complex mating surface of instrument, now：
    TT=TC1·TE0 (1)
    TC1The biasing grasped between central point of central point and manipulator in complex mating surface is virtually grasped for manipulator normality Matrix；TE0For mechanical arm tail end coordinate system under normality configuration；
    The position of maintenance tool and posture need to be determined by global camera, therefore, it is necessary first to determine maintenance tool in the overall situation Description in camera coordinates system, and then reconvert describes to world coordinate system；
    Four target points are posted in maintenance tool side, so, solve description of the maintenance tool in world coordinate system and just turn PNP problems have been melted into, the general principle of PNP problems is briefly described：
    Simply say, PNP problems are exactly N number of picture point by N number of characteristic point in world coordinate system and global camera imaging, meter Projection relation between the two is calculated, finally obtains object pose or global camera pose by feature point description；
    Assuming that global image center is located at point O, characteristic point P1,P2,P3...PN；
    During N=1, an only characteristic point, might as well set up an office P1Positioned at the centre of global camera image imaging, then OP1It is exactly complete Z axis in office's camera coordinates system, now global camera is towards P1Point, global camera position may be with P1For the centre of sphere, OP1For On the sphere of radius, now there is numerous solution；
    During N=2, two characteristic point P1,P2A triangle, the one of side P of triangle are constituted with O points1P2Length Know, vectorial OP1And OP2Direction, it is known that OP therefore can be calculated1、OP2Length, make R1=OP1,R2=OP2, with P1For circle The heart, R1Ball, which is made, for radius is designated as ball OA, with P2For the center of circle, R2Ball, which is made, for radius is designated as ball OB；
    Now global camera is located at ball OAWith ball OBIntersection at, have numerous solution；
    During N=3, one has been had more on the basis of N=2 with P3For centre of sphere R3For the ball O of radiusC, global camera is located at three balls The intersection in face, should now there are four solutions, one of solution is exactly the actual location of global camera, but can not determine to provide Which solution body is；
    During N=4, during due to N=3, four solutions can be calculated by formula (2), obtain four rotations, translation matrix, wherein (x, Y) the image point coordinates for being spatial point P, (fx,fy) for X-axis, the amplification coefficient of Y direction, (cx,cy) be optical axis center point seat Mark, (rij,tk)I, j, k=1,2,3For global Camera extrinsic, (x, y, z) is positions of the point P under world coordinate system；
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    The world coordinate system of 4th point is substituted into formula (1), its four on image projection can be obtained, wherein projection misses Poor that minimum solution, the normal solution exactly needed；
    Step 2：Maintenance tool coordinate system is modified using trick camera；
    When error occurs, it is necessary to maintenance tool coordinate system is modified using trick camera, corrects the mark used in error Fixed board is near the middle position of maintenance unit, and demarcation Board position is with maintenance tool initial position by normal matrix TC2Turned Change：
    TM=TC2·TT (3)
    Convolution (1)：
    TM=TC1·TC2·TE (4)
    Wherein TC2Represent the transformation matrix between scaling board and maintenance tool initial position, according to maintenance unit design requirement, It is considered that TC2For normal matrix；
    When performing task first, by manipulator teaching on instrument complex face, the joint position sensor of record mechanical arm now Data, following mobile mechanical arm to its normal orientation configuration, utilize the posture information of trick cameras record now scaling board；Have with Lower three kinds of situations can cause manipulator crawl maintenance tool failure：
    1. the debugging stage needs being dismounted for multiple times mechanical arm, maintenance panel, this can bring certain alignment error；
    2. it can cause relative motion occurs between mechanical arm body and maintenance unit in the vibration during rocket launching；
    3. the gravity unloading under space environment, amount of deflection can be brought to change nacelle riser, maintenance unit；
    Therefore following modification method is used, this method is described in detail below：
    (1) under ground environment, the ideal movements track of mechanical arm hand system progress task operating is obtained by kinematics teaching, And it is indicated using position and posture of the mechanical arm tail end on a series of key position points；
    (2) when ground experiment and Space Experiments start, surveyed robot motion to same fixed position and using trick camera Amount is fixed on the pose of scaling board on maintenance unit, and then calculates phase of the maintenance unit in ground environment and space environment indirectly To displacement；
    (3) the task track of mechanical arm hand system is modified, it is ensured that mechanical arm tail end and the phase of the maintenance tool operated It is constant to position；
    It is as follows to define related position orientation relation：
    --- transposed matrix of the demarcation Board position in Space Experiments relative to ground experiment；
    --- the pose of trick camera measurement scaling board in ground experiment；
    --- the pose of trick camera measurement scaling board in Space Experiments；
    Therefore：
    <mrow> <mmultiscripts> <mi>T</mi> <mi>M</mi> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>=</mo> <msup> <mrow> <mo>(</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> <mi>H</mi> </mmultiscripts> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>M</mi> <mi>H</mi> </mmultiscripts> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
    <mrow> <mmultiscripts> <mi>T</mi> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>=</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>M</mi> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>M</mi> </mmultiscripts> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
    In formula (6)Represent relative movement of the maintenance tool between space environment and ground environment, maintenance tool and demarcation Plate is all placed on maintenance unit, and according to technical requirements, it is larger to repair the rigidity of unit, according to formula (3) it is considered that TC2Square Battle array does not change with gravity unloading, i.e.,：
    <mrow> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>M</mi> </mmultiscripts> <mo>=</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
    Therefore formula (6) can be write as：
    <mrow> <mmultiscripts> <mi>T</mi> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>=</mo> <msup> <mrow> <mo>(</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>M</mi> </mmultiscripts> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>M</mi> <msup> <mi>M</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>M</mi> </mmultiscripts> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
    The purpose of this method, exactly in order to ensure the relative pose of robot end and workpiece, i.e.,：
    <mrow> <mmultiscripts> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>H</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> <mo>=</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>H</mi> </mmultiscripts> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>
    To sum up described, new mechanical arm tail end position can be expressed as relative to the pose of mechanical arm pedestal：
    <mrow> <mtable> <mtr> <mtd> <mrow> <mmultiscripts> <mi>T</mi> <msup> <mi>H</mi> <mo>&amp;prime;</mo> </msup> <mi>B</mi> </mmultiscripts> <mo>=</mo> <mmultiscripts> <mi>T</mi> <mi>H</mi> <mi>B</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>H</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <mi>T</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>H</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> </mmultiscripts> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mmultiscripts> <mi>T</mi> <mi>H</mi> <mi>B</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>H</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <mmultiscripts> <mi>T</mi> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <mi>T</mi> </mmultiscripts> <mo>&amp;CenterDot;</mo> <msup> <mrow> <mo>(</mo> <mmultiscripts> <mi>T</mi> <mi>T</mi> <mi>H</mi> </mmultiscripts> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
    --- the mechanical arm tail end location track key point that ground experiment obtains；
    --- the mechanical arm tail end that accurate measurement obtains relative to maintenance tool position auto―control；
    From formula (10), description of the new mechanical arm tail end position under world coordinate system completely can be by known matrix It is indicated, and a known matrix part is calculated by the ground experiment of synchronization, and another part is then to utilize trick phase The scaling board positional information of machine collection is calculated.
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