CN107398901B - The visual servo control method of robot for space maintainable technology on-orbit - Google Patents
The visual servo control method of robot for space maintainable technology on-orbit Download PDFInfo
- Publication number
- CN107398901B CN107398901B CN201710629709.1A CN201710629709A CN107398901B CN 107398901 B CN107398901 B CN 107398901B CN 201710629709 A CN201710629709 A CN 201710629709A CN 107398901 B CN107398901 B CN 107398901B
- Authority
- CN
- China
- Prior art keywords
- electric tool
- formula
- pose
- screw
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
- Manipulator (AREA)
Abstract
The visual servo control method of robot for space maintainable technology on-orbit belongs to manned spacecraft overall design technique field.Method of the invention is: passing through global cameras record and calculates current poseCTt(t0), with the pose define robot mechanical arm grasp electric tool after screw screw during the nominal pose of electric tool and corresponding coordinate system Ft；Manipulator grasps electric tool and passes through the positioning that global camera visual servo completion screws screw；During screwing screw task, manipulator grasps electric tool, the closed-loop control of visual servo is carried out under global camera vision guide, electric tool moves to the nominal pose for screwing screw under robot arm drive, realizes electric tool to the alignment function of screw.A kind of visual servo control method of robot for space maintainable technology on-orbit based on man-machine coordination proposed by the present invention is directly measured electric tool pose using global camera and introduces robot closed-loop system, and this method can realize the fine maintenance operation of in-orbit removable screw.
Description
Technical field
The present invention relates to a kind of control methods of robot for space maintainable technology on-orbit, belong to manned spacecraft overall design technique
Field.
Background technique
Robot in-orbit service and maintenance can extend the service life of satellite, not need to emit new replacement satellite, significant to save
Save replacement cost.Robot for space takes care of in international space station assembling, load and space technology is tested and Mir station
Assembling etc. can be used widely.
Chinese Space robot maintainable technology on-orbit attended operation, especially for true spacecraft functional component and general dimension
The maintainable technology on-orbit operation for repairing tool rarely has research, also has no in the in-orbit service Verification Project for the in-orbit flight that succeeded in the world
Using and implement.
Summary of the invention
The purpose of the present invention is to provide a kind of visual servo control methods of robot for space maintainable technology on-orbit, it uses one
The robot for space visual servo piloting strategies that kind is repaired towards replaceable units fastener in-orbit in cabin, to robot for space
The design of in-orbit service scheme system and analysis.
It is straight using global camera the present invention is based on the robot for space maintainable technology on-orbit visual servo piloting strategies of man-machine coordination
It connects measurement electric tool pose and introduces robot closed-loop system, which can be achieved the fine maintenance operation of in-orbit removable screw.
To achieve the above object, the technical solution adopted by the present invention is that:
The visual servo control method of robot for space maintainable technology on-orbit of the invention, the method the following steps are included:
Step 1: spacefarer's on-orbit calibration electric tool screws the object pose of screw；
Go out the current pose of electric tool by global cameras recordCTt(t0), robot mechanical arm is defined with the pose and is grasped
The nominal pose of electric tool and corresponding coordinate system F during screwing screw after electric toolt；
Step 2: the manipulator grasps electric tool and screws determining for screw by global camera visual servo completion
Position；
During screwing screw task, manipulator grasps electric tool, and vision is carried out under global camera vision guide and is watched
The closed-loop control of clothes, electric tool move to the nominal pose for screwing screw under robot arm drive, realize electronic work
Has the alignment function to screw；
In this step, pass through the current pose of calibration resultCTt(t0) and vision real-time measurementCTt(t) it is formed and manipulator is grabbed
Pose T (t) closed-loop control after holding electric tool, will be between the mechanical arm pedestal installation error, manipulator and electric tool
Grabbing error, the installation error of simulation maintenance single machine and the installation error of global camera evade falling, whereinCTt(t)∈R4 ×4The relatively global camera measurement coordinate system of the electric tool that global camera real-time measurement obtains during screwing screw for manipulator
Transformation matrix, T (t) ∈ R4×4For the transformation matrix of electric tool relative mechanical arm base coordinate system；
In this step, the parsing point of closed-loop control is electric tool ending coordinates system FtPose, rather than manipulator is grabbed
Hold coordinate system FePose, this method cause the D-H parameter for grasping electric tool front and back ending coordinates system to change, therefore,
The Visual servoing control device for adapting to this variation need to be designed, the embodiment of Visual servoing control device and control algolithm includes
Following two step:
(1) Visual servoing control device design and analysis；
Visual servoing control device is with global camera measurement coordinate system FcFor reference, t moment electric tool attitude matrix RtUsing
Rodrigues formula indicates are as follows:
In formula, Rt∈R3×3, I is the unit matrix of 3 rows 3 column, At∈R3×3For with FcFor the unit length of referential description
Torque battle array, θ corresponding to rotary shaftt[0,180 °] of ∈ is corresponding rotation angle；R indicates real number, RtIndicate t moment electric tool
Attitude matrix；
T+1 moment, Visual servoing control device control manipulator motion make electric tool attitudes vibration, the electronic work after variation
Has posture still with global camera measurement coordinate system FcMatrix R is expressed as referencet+1:
Rt+1=RmRt (2)
In formula, Rt+1∈R3×3, Rm∈R3×3Indicate that manipulator motion leads to the transformation matrices of electric tool posture；Rt+1It indicates
T+1 moment electric tool attitude matrix；
Control algolithm is designed, enabling the coefficient of proportional controller Kp is α, then
Wherein, (0,1) α ∈；Bt∈R3×3For homography RmUnit length rotary shaft corresponding to torque battle array, BtWith
AtThe angle of corresponding direction vector is between 170 °~190 °；
(2) Visual servoing control algorithmic statement proves；
To prove to guarantee to converge to calibration appearance under the vision closed loop of global camera after manipulator catches electric tool
State need to prove the following contents:
θt+1< θt (4)
Wherein, θt+1For corresponding attitude matrix Rt+1Shaft angle；For corresponding AtShaft unit direction vector；For corresponding At+1Shaft unit direction vector；ε is a small amount of；
A coordinate system F can be found, electric tool can be described at this coordinate system F in t moment AtCorresponding turn
Axis are as follows:
Then, BtCorresponding shaft is
Wherein, due to BtWith AtThe angle of corresponding direction vector is between 170 °~190 °, therefore
c∈[-1,0) (8)
| s | < ε (9)
c2+s2=1 (10)
In formula, C indicates BtCorresponding shaft vectorFirst element, S indicate BtCorresponding shaft vector?
Two elements；
It is discussed at coordinate system F, formula (6) is substituted into formula (1), after formula (7) substitutes into formula (3), there is following relationship:
Formula (11) and formula (12) are substituted into formula (2), can be obtained:
It wherein, is simplification matrix RtExpression-form, enable D here1=sin θt；D2=sin α θt；E1=1-cos θt；E2=
1-cosαθt；
According to Rodrigues formula,
That is,
All in formula includes 1-cos α θtAmount be about α θtSecond order dimensionless near zero,
-2sinθt sinαθtC is the algebraic term greater than zero；
Therefore, when α is sufficiently small, there is cos θt+1-cosθt> 0, it may be assumed that
θt+1< θt (16)
According to the inverse transformation of Rodrigues rotation formula, it is known that spin matrix Rt+1, then its corresponding rotary shaftFor
The corresponding element of formula (13) is substituted into formula (17), can be obtained
Using formula (6) and formula (18), calculateThen have:
Formula (19) is about α θtSecond order dimensionless near zero, when α is sufficiently small, shaftWith shaftDirection
It varies less, i.e.,
Composite type (16) and formula (20), show within each mechanical arm closed-loop control period, manipulator is with electric tool
Under the feedback of global camera vision closed loop, with the posture direction change of very little, towards reduction initial time electric tool posture
The attitude angle of deviation changes, i.e., when α is sufficiently small, satisfaction needs the formula (4) and formula (5) proved, and control algolithm guarantees electronic work
Tool converges to calibration posture under the movement of mechanical arm.
The beneficial effect of the present invention compared with the existing technology is:
1, technical solution of the present invention considers world gravity difference, robot base mechanical connection error, robot end
It holds the crawl deviation between pose deviation, manipulator and electric tool, influenced by deviation of operation screw relative mechanical arm pedestal etc.,
The object pose and global camera vision guide of screw are screwed based on spacefarer's on-orbit calibration electric tool, it is suitable by choosing
Control parameter, is adaptable to robot for space cooperation or the operation of noncooperative target operation object space free-position deviation is appointed
Business.
2, control method of the invention can guarantee that the electric tool of robot manipulation converges to boat under the movement of robot
The targeted attitude of its member calibration.By convergence proof show no matter manipulator grasp the electric tool moment occur it is great with
Chance error is poor, and the Visual servoing control strategy that can propose through the invention is effectively corrected.By robot maintainable technology on-orbit mould
The operation precision that quasi-simple machine unscrews screw improves to global camera measurement precision superposition robot end the amount for repeating pose accuracy
Grade, greatly improves the positioning accuracy of operation task.
Detailed description of the invention
Fig. 1 is that the visual servo control method calibration of robot for space maintainable technology on-orbit of the invention and visual servo pose close
It is transition diagram；
Fig. 2 is the Visual servoing control device frame of the visual servo control method of robot for space maintainable technology on-orbit of the invention
Figure.
Specific embodiment
The present invention is elaborated below in conjunction with attached drawing, but the present invention is not limited only to specific embodiment party below
Formula.
Specific embodiment 1: present embodiment discloses the visual servo control method of robot for space maintainable technology on-orbit,
The method the following steps are included:
Step 1: spacefarer's on-orbit calibration electric tool screws the object pose of screw；
Go out the current pose of electric tool by global cameras recordCTt(t0), robot mechanical arm is defined with the pose and is grasped
The nominal pose of electric tool and corresponding coordinate system F during screwing screw after electric toolt；
As shown in Figure 1, F0Indicate mechanical arm pedestal mounting coordinate system, FeIndicate that manipulator grasps coordinate system, FtIndicate electronic
Tool tip coordinate system, FboltIndicate screw coordinate system, FCIndicate global camera measurement coordinate system,CTt(t0)∈R4×4It indicates
The transformation matrix of the relatively global camera measurement coordinate system of electric tool under nominal pose；
Step 2: the manipulator grasps electric tool and screws determining for screw by global camera visual servo completion
Position；
During screwing screw task, manipulator grasps electric tool, and vision is carried out under global camera vision guide and is watched
The closed-loop control of clothes, electric tool move to the nominal pose for screwing screw under robot arm drive, realize electronic work
Has the alignment function to screw；
In this step, pass through the current pose of calibration resultCTt(t0) and vision real-time measurementCTt(t) it is formed and manipulator is grabbed
Pose T (t) closed-loop control after holding electric tool, will be between the mechanical arm pedestal installation error, manipulator and electric tool
Grabbing error, the installation error of simulation maintenance single machine and the installation error of global camera evade falling, whereinCTt(t)∈R4 ×4The relatively global camera measurement coordinate system of the electric tool that global camera real-time measurement obtains during screwing screw for manipulator
Transformation matrix, T (t) ∈ R4×4For the transformation matrix of electric tool relative mechanical arm base coordinate system；
In this step, the parsing point of closed-loop control is electric tool ending coordinates system FtPose, rather than manipulator is grabbed
Hold coordinate system FePose, this method lead to the D-H (Denavit- for grasping electric tool front and back ending coordinates system
Hartenberg) parameter changes, and therefore, need to design the Visual servoing control device for adapting to this variation, visual servo
The embodiment of controller and control algolithm includes following two step:
(1) Visual servoing control device design and analysis；
Visual servoing control device can be used as Fig. 2 form is designed and is analyzed.In fig. 1 and 2 with the survey of global camera
Measure coordinate system FcFor reference, t moment electric tool attitude matrix RtIt is indicated using Rodrigues formula are as follows:
In formula, Rt∈R3×3, I is the unit matrix of 3 rows 3 column, At∈R3×3For with FcFor the unit length of referential description
Torque battle array, θ corresponding to rotary shaftt[0,180 °] of ∈ is corresponding rotation angle；R indicates real number, RtIndicate t moment electric tool
Attitude matrix；
T+1 moment, Visual servoing control device control manipulator motion make electric tool attitudes vibration, the electronic work after variation
Has posture still with global camera measurement coordinate system FcMatrix R is expressed as referencet+1:
Rt+1=RmRt (2)
In formula, Rt+1∈R3×3, Rm∈R3×3Indicate that manipulator motion leads to the transformation matrices of electric tool posture；Rt+1It indicates
T+1 moment electric tool attitude matrix；
Control algolithm is designed, enabling the coefficient of proportional controller Kp is α, then
Wherein, (0,1) α ∈；Bt∈R3×3For homography RmUnit length rotary shaft corresponding to torque battle array, BtWith
AtThe angle of corresponding direction vector is between 170 °~190 °；
(2) Visual servoing control algorithmic statement proves；
To prove to guarantee to converge to calibration appearance under the vision closed loop of global camera after manipulator catches electric tool
State need to prove the following contents:
θt+1< θt (4)
Wherein, θt+1For corresponding attitude matrix Rt+1Shaft angle；For corresponding AtShaft unit direction vector；For corresponding At+1Shaft unit direction vector；ε is a small amount of；
A coordinate system F can be found, electric tool can be described at this coordinate system F in t moment AtCorresponding turn
Axis are as follows:
Then, BtCorresponding shaft is
Wherein, due to BtWith AtThe angle of corresponding direction vector is between 170 °~190 °, therefore
c∈[-1,0) (8)
| s | < ε (9)
c2+s2=1 (10)
In formula, C indicates BtCorresponding shaft vectorFirst element, S indicate BtCorresponding shaft vector?
Two elements；
It is discussed at coordinate system F, formula (6) is substituted into formula (1), after formula (7) substitutes into formula (3), there is following relationship:
Formula (11) and formula (12) are substituted into formula (2), can be obtained:
It wherein, is simplification matrix RtExpression-form, enable D here1=sin θt；D2=sin α θt；E1=1-cos θt；E2=
1-cosαθt；
According to Rodrigues formula,
That is,
All in formula includes 1-cos α θtAmount be about α θtSecond order dimensionless near zero, -2sin θt sinα
θtC is the algebraic term greater than zero；
Therefore, when α is sufficiently small, there is cos θt+1-cosθt> 0, it may be assumed that
θt+1< θt (16)
According to the inverse transformation of Rodrigues rotation formula, it is known that spin matrix Rt+1, then its corresponding rotary shaftFor
The corresponding element of formula (13) is substituted into formula (17), can be obtained
Using formula (6) and formula (18), calculateThen have:
Formula (19) is about α θtSecond order dimensionless near zero, when α is sufficiently small, shaftWith shaftSide
To varying less, i.e.,
Composite type (16) and formula (20), show within each mechanical arm closed-loop control period, manipulator is with electric tool
Under the feedback of global camera vision closed loop, with the posture direction change of very little, towards reduction initial time electric tool posture
The attitude angle of deviation changes, i.e., when α is sufficiently small, satisfaction needs the formula (4) and formula (5) proved, and control algolithm guarantees electronic work
Tool converges to calibration posture under the movement of mechanical arm.
Convergence proof shows no matter manipulator is grasping the great random error of electric tool moment appearance, can lead to
The Visual servoing control strategy for crossing this patent proposition is effectively corrected.
Claims (1)
1. a kind of visual servo control method of robot for space maintainable technology on-orbit, it is characterised in that: the method includes following
Step:
Step 1: spacefarer's on-orbit calibration electric tool screws the object pose of screw；
Go out the current pose of electric tool by global cameras recordCTt(t0), it is electronic that robot mechanical arm grasping is defined with the pose
The nominal pose of electric tool and corresponding coordinate system F during screwing screw after toolt；
Step 2: the manipulator grasps electric tool and passes through the positioning that global camera visual servo completion screws screw；
During screwing screw task, manipulator grasps electric tool, and visual servo is carried out under global camera vision guide
Closed-loop control, electric tool move to the nominal pose for screwing screw under robot arm drive, realize electric tool pair
The alignment function of screw；
In this step, pass through the current pose of calibration resultCTt(t0) and vision real-time measurementCTt(t) it is formed and electricity is grasped to manipulator
Pose T (t) closed-loop control after power driven tools, by between mechanical arm pedestal installation error, manipulator and electric tool grabbing error,
The installation error of simulation maintenance single machine and the installation error of global camera are evaded falling, whereinCTt(t)∈R4×4For manipulator rotation
The transformation matrix of the relatively global camera measurement coordinate system of the electric tool that global camera real-time measurement obtains during twisting screw, T (t)
∈R4×4For the transformation matrix of electric tool relative mechanical arm base coordinate system；
In this step, the parsing point of closed-loop control is electric tool ending coordinates system FtPose, rather than manipulator grasp coordinate
It is FePose, this method cause the D-H parameter for grasping electric tool front and back ending coordinates system to change, therefore, need to design
The embodiment of the Visual servoing control device of one this variation of adaptation, Visual servoing control device and control algolithm includes following two
A step:
(1) Visual servoing control device design and analysis；
Visual servoing control device is with global camera measurement coordinate system FcFor reference, t moment electric tool attitude matrix RtUsing
Rodrigues formula indicates are as follows:
In formula, Rt∈R3×3, I is the unit matrix of 3 rows 3 column, At∈R3×3For with FcFor the rotary shaft of the unit length of referential description
Corresponding torque battle array, θt[0,180 °] of ∈ is corresponding rotation angle；R indicates real number, RtIndicate t moment electric tool posture square
Battle array；
T+1 moment, Visual servoing control device control manipulator motion make electric tool attitudes vibration, the electric tool appearance after variation
State is still with global camera measurement coordinate system FcMatrix R is expressed as referencet+1:
Rt+1=RmRt (2)
In formula, Rt+1∈R3×3, Rm∈R3×3Indicate that manipulator motion leads to the transformation matrices of electric tool posture；Rt+1Indicate t+1
Moment electric tool attitude matrix；
Control algolithm is designed, enabling the coefficient of proportional controller Kp is α, then
Wherein, (0,1) α ∈；Bt∈R3×3For homography RmUnit length rotary shaft corresponding to torque battle array, BtWith AtIt is right
The angle for the direction vector answered is between 170 °~190 °；
(2) Visual servoing control algorithmic statement proves；
To prove to guarantee to converge to calibration posture under the vision closed loop of global camera after manipulator catches electric tool, need
Prove the following contents:
θt+1< θt (4)
Wherein, θt+1For corresponding attitude matrix Rt+1Shaft angle；For corresponding AtShaft unit direction vector；For corresponding At+1Shaft unit direction vector；ε is a small amount of；
A coordinate system F can be found, electric tool can be described at this coordinate system F in t moment AtCorresponding shaft are as follows:
Then, BtCorresponding shaft is
Wherein, due to BtWith AtThe angle of corresponding direction vector is between 170 °~190 °, therefore
c∈[-1,0) (8)
| s | < ε (9)
c2+s2=1 (10)
In formula, C indicates BtCorresponding shaft vectorFirst element, S indicates the corresponding shaft vector of BtSecond
Element；
It is discussed at coordinate system F, formula (6) is substituted into formula (1), after formula (7) substitutes into formula (3), there is following relationship:
Formula (11) and formula (12) are substituted into formula (2), can be obtained:
It wherein, is simplification matrix RtExpression-form, enable D here1=sin θt；D2=sin α θt；
E1=1-cos θt；E2=1-cos α θt；
According to Rodrigues formula,
That is,
All in formula includes 1-cos α θtAmount be about α θtSecond order dimensionless near zero,
-2sinθtsinαθtC is the algebraic term greater than zero；
Therefore, when α is sufficiently small, there is cos θt+1-cosθt> 0, it may be assumed that
θt+1< θt (16)
According to the inverse transformation of Rodrigues rotation formula, it is known that spin matrix Rt+1, then its corresponding rotary shaftFor
The corresponding element of formula (13) is substituted into formula (17), can be obtained
Using formula (6) and formula (18), calculateThen have:
Formula (19) is about α θtSecond order dimensionless near zero, when α is sufficiently small, shaftWith shaftDirection become
Change very little, i.e.,
Composite type (16) and formula (20), show within each mechanical arm closed-loop control period, manipulator is with electric tool complete
Under the feedback of office's camera vision closed loop, with the posture direction change of very little, towards reduction initial time electric tool attitude misalignment
Attitude angle variation meet the formula (4) and formula (5) for needing to prove that is, when α is sufficiently small, control algolithm guarantee electric tool exists
Calibration posture is converged under the movement of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710629709.1A CN107398901B (en) | 2017-07-28 | 2017-07-28 | The visual servo control method of robot for space maintainable technology on-orbit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710629709.1A CN107398901B (en) | 2017-07-28 | 2017-07-28 | The visual servo control method of robot for space maintainable technology on-orbit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107398901A CN107398901A (en) | 2017-11-28 |
| CN107398901B true CN107398901B (en) | 2019-03-01 |
Family
ID=60401596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710629709.1A Active CN107398901B (en) | 2017-07-28 | 2017-07-28 | The visual servo control method of robot for space maintainable technology on-orbit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107398901B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161940B (en) * | 2018-02-26 | 2020-11-03 | 哈尔滨工业大学 | Method for realizing man-machine cooperative screw unscrewing operation by using space manipulator operation system |
| CN108908291B (en) * | 2018-06-29 | 2020-07-14 | 北京空间飞行器总体设计部 | Multi-arm space robot for on-orbit maintenance |
| CN111590566B (en) * | 2020-05-12 | 2021-07-13 | 北京控制工程研究所 | On-orbit calibration method for kinematic parameters of fully-configured space manipulator |
| CN112894823B (en) * | 2021-02-08 | 2022-06-21 | 珞石（山东）智能科技有限公司 | Robot high-precision assembling method based on visual servo |
| CN112989633B (en) * | 2021-04-20 | 2021-08-10 | 中国人民解放军国防科技大学 | Maintenance-based ORU layout optimization method and track device |
| CN113386136B (en) * | 2021-06-30 | 2022-05-20 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029131A (en) * | 2011-10-06 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Mechanical arm motion control system and mechanical arm motion control method |
| DE102012012316B4 (en) * | 2012-06-20 | 2015-05-07 | Fanuc Corporation | A robot controller that performs force control using a three-axial force sensor |
| JP6459227B2 (en) * | 2014-06-02 | 2019-01-30 | セイコーエプソン株式会社 | Robot system |
| CN106584093A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Self-assembly system and method for industrial robots |
| CN205852805U (en) * | 2016-07-29 | 2017-01-04 | 浙江优傲智能科技有限公司 | Robot movement-control system based on machine vision |
-
2017
- 2017-07-28 CN CN201710629709.1A patent/CN107398901B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107398901A (en) | 2017-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107398901B (en) | The visual servo control method of robot for space maintainable technology on-orbit | |
| Ryll et al. | 6D physical interaction with a fully actuated aerial robot | |
| Caccavale et al. | Six-dof impedance control of dual-arm cooperative manipulators | |
| Karayiannidis et al. | Adaptive control for pivoting with visual and tactile feedback | |
| Dallej et al. | Vision-based modeling and control of large-dimension cable-driven parallel robots | |
| CN106584093A (en) | Self-assembly system and method for industrial robots | |
| Meng et al. | Vibration suppression control of free-floating space robots with flexible appendages for autonomous target capturing | |
| Abiko et al. | An adaptive control for a free-floating space robot by using inverted chain approach | |
| Lee et al. | Maintenance robot for 5-MW offshore wind turbines and its control | |
| Lieret et al. | A lightweight, low-cost and self-diagnosing mechatronic jaw gripper for the aerial picking with unmanned aerial vehicles | |
| CN110641738B (en) | Trajectory tracking control method of space five-degree-of-freedom free flying mechanical arm | |
| Yu et al. | Design of a humanoid ping-pong player robot with redundant joints | |
| Liu et al. | A robotic Hi-Lite Bolts/collars assembly system and control strategy | |
| CN108227493A (en) | A kind of robot trace tracking method | |
| Osumi et al. | Cooperative control of multiple mobile manipulators on uneven ground | |
| Hu et al. | Vision-Based Hierarchical Impedance Control of an Aerial Manipulator | |
| Zhang et al. | Intelligent surface-normal adjustment system and application in aeronautical drilling robot | |
| Espinoza-Quesada et al. | Visual servoing for an inverted pendulum using a digital signal processor | |
| Chen et al. | Modeling and adaptive controlling of quadrotor uav with flexible gripper | |
| Shi et al. | Study on intelligent visual servoing of space robot for cooperative target capturing | |
| CN107967241B (en) | Base disturbance calculation method of space free floating robot | |
| Zhuo et al. | Research on trajectory smoothness optimization and dynamics simulation of palletizing robot | |
| Xiao et al. | Observer-based control for robotic manipulations with uncertain kinematics and dynamics | |
| Liang et al. | Research on the intelligent recognition system of printing roller surface defects based on machine vision | |
| Xie et al. | Research of the low impact space docking mechanism based on impedance control strategy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |