CN108044651A - A kind of space manipulator kinematics parameters on-orbit calibration method based on binocular vision - Google Patents

A kind of space manipulator kinematics parameters on-orbit calibration method based on binocular vision Download PDF

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Publication number
CN108044651A
CN108044651A CN201710977037.3A CN201710977037A CN108044651A CN 108044651 A CN108044651 A CN 108044651A CN 201710977037 A CN201710977037 A CN 201710977037A CN 108044651 A CN108044651 A CN 108044651A
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space
space manipulator
manipulator
binocular
system controller
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丁希仑
王业聪
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Beihang University
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Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a kind of space manipulator kinematics parameters on-orbit calibration method based on binocular vision, capital equipment includes being fixed on the space manipulator and caliberating device of the external side of station module, known to the two pose transformation relation.Caliberating device has binocular space camera and system controller.Scaling method is as follows：The kinematics model of space manipulator is established according to space manipulator joint configuration；Space manipulator kinematic calibration model is established according to the kinematics model of space manipulator；System controller sends to space manipulator and instructs, it is made uniformly to run to 50 location points；At each location point, system controller reads the joint angle of space manipulator, binocular space camera measurement space mechanical arm tail end position；System controller calculates revised kinematics parameters；Revised kinematics parameters are transmitted to space manipulator by system controller.The present invention has the characteristics that high degree of automation, space environment adaptability are good.

Description

A kind of space manipulator kinematics parameters on-orbit calibration method based on binocular vision
Technical field
The invention belongs to space manipulator kinematics parameters on-orbit calibration fields, are related to a kind of sky based on binocular vision Room machine arm kinematics parameters on-orbit calibration method.
Background technology
With the rapid development of space technology, the particularly birth of space station, space shuttle, robot for space etc. and answer With space manipulator comes into space as in-orbit a key technology supported, serviced, and is increasingly subject to people's Concern.By the actual use of space shuttle and international space station, space manipulator shows powerful application power and wide Application prospect, very big induced effect is played to the development of space science and application.Particularly space station in-orbit service, The rapid development of the fields of space technology such as survey of deep space, it is more and more urgent for the demand of Chinese Space Manipulator Technology, and to it Ability to work and performance requirement are higher and higher, and higher and higher want is also proposed to its reliability, security, service life etc. It asks.
Space manipulator can be subject to great force in emission process, in orbit when be in extreme rays and temperature In environment, abrasion and deformation easily occur after long-time service.These factors inevitably cause the kinematics of space manipulator Parameter changes, and causes space manipulator that can not normally complete the tasks such as in-orbit support and service.
Due to the particularity of in-orbit environment and space mechanism arm configuration, traditional Mechanical transmission test parameter calibration method Without the on-orbit calibration for being used for space manipulator kinematics parameters.Therefore, it is necessary to a kind of automation scaling methods to realize space mechanism Arm kinematics parameters carry out on-orbit calibration, it is ensured that mechanical arm can normally complete the services such as in-orbit support and service.
The content of the invention
In order to solve the problems, such as space manipulator on-orbit calibration, the present invention proposes a kind of space based on binocular vision Mechanical transmission test parameter on-orbit calibration method, for the particularity of space manipulator kinematics parameters on-orbit calibration, using double Mesh space camera gives the on-orbit calibration method of space manipulator kinematics parameters, this method automation as measuring apparatus Degree is high, and space adaptability is good, it is easy to accomplish.
The present invention is based on space manipulators involved by the space manipulator kinematics parameters on-orbit calibration method of binocular vision Kinematics parameters on-orbit calibration system includes space manipulator and caliberating device, is respectively mounted and is fixed on the external side of station module, and two Known to person's pose transformation relation；Wherein, caliberating device includes binocular space camera and system controller；System controller is responsible for The whole control of calibration system, communicates respectively with space manipulator and binocular space camera.Above-mentioned space manipulator end installation There is target, for improving binocular space camera measurement accuracy.
The scaling method of space manipulator is as follows by above-mentioned caliberating device：
Step 1：The kinematics model of space manipulator is established according to the joint configuration of space manipulator；
Step 2：The kinematics model of the space manipulator obtained according to step 1 establishes space manipulator kinematics parameters Peg model；
Step 3：Movement instruction is sent from system controller to space manipulator, it is made uniformly to run to 50 location points, And the target of space manipulator end is installed at each location point towards binocular space camera；
Step 4：At each location point, system controller reads space manipulator joint angle θ1~θ7, and it is empty by binocular Between camera measurement mechanical arm tail end position xj、yj、zj, j is location point number.
Step 5：System controller is by the joint angle θ at 50 location points1~θ7, target position xj、yj、zjIt is transported with theory Dynamic parameter of learning substitutes into space manipulator kinematic calibration model, calculates kinematics parameters after correcting；
Step 6：Revised kinematics parameters are transmitted to space manipulator by system controller, are completed to space mechanism The calibration of arm kinematics parameters.
The advantage of the invention is that：
1st, the present invention is based on the space manipulator kinematics parameters on-orbit calibration method of binocular vision, involved measurements Equipment is binocular space camera, and space adaptability is good, dedicated without being researched and developed for space manipulator kinematics parameters on-orbit calibration Measuring apparatus；
2nd, the present invention is based on the space manipulator kinematics parameters on-orbit calibration method of binocular vision, involved spaces Mechanical arm tail end is equipped with target, can improve the measurement accuracy of binocular space camera；
3rd, the present invention is based on the space manipulator kinematics parameters on-orbit calibration method of binocular vision, the calibration dress being related to It puts comprising system controller, in-orbit can calculate revised kinematics parameters；
4th, the present invention is based on the space manipulator kinematics parameters on-orbit calibration method of binocular vision, high degree of automation, Calibration process can be realized unattended.
Description of the drawings
Fig. 1 is the sky involved by the present invention is based on the space manipulator kinematics parameters on-orbit calibration method of binocular vision Room machine arm kinematics parameters on-orbit calibration system structure diagram；
Fig. 2 is space mechanism arm configuration schematic diagram in space manipulator kinematics parameters on-orbit calibration system；
Fig. 3 is space manipulator establishment of coordinate system schematic diagram in space manipulator kinematics parameters on-orbit calibration system；
Fig. 4 is to demarcate apparatus structure schematic diagram in space manipulator kinematics parameters on-orbit calibration system；.
Fig. 5 is the space manipulator kinematics parameters on-orbit calibration method flow diagram the present invention is based on binocular vision.
In figure：
1- space manipulator 2- caliberating device 101- space manipulator pedestals
The first joints of 102- space manipulators end 103- 104- second joints
The 5th joints of the 3rd joint the 4th joint 107- of 106- of 105-
The 7th joint 110- targets of the 6th joint 109- of 108-
201- binocular space camera 202- system controller 203- caliberating device pedestals
204- erecting beds
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
The involved space manipulator in the space manipulator kinematics parameters on-orbit calibration method based on binocular vision On-orbit calibration system, including space manipulator 1 and caliberating device 2, as shown in Figure 1.
The space manipulator 1 includes space manipulator pedestal 101, space manipulator end 102 and by mechanical arm base Seat 101 arrives the first~seven joint 103~109 between space manipulator end 102, and space manipulator 1 passes through space mechanism Arm pedestal 101 is installed on the external side of station module, and the first~the 6th is passed sequentially through between the first~seven joint 103~109 Root joint link lever is connected；And 1 each joint coordinate system of space manipulator is established using MDH methods, as shown in Figure 3.Caliberating device 2 include binocular space camera 201, system controller 202, caliberating device 203 and erecting bed 204, as shown in Figure 4.Wherein, mark Determine device 2 and the external side of station module is installed on by caliberating device pedestal 203, binocular space camera 201 is installed on caliberating device On the erecting bed 204 designed on pedestal 203, towards space manipulator end 102, system controller 202 is installed on calibration dress Bottom set seat 5, the whole control and the communication between binocular space camera 201 and space manipulator 1 for being responsible for calibration system；On It states known to both space manipulator 1 and caliberating device 2 pose transformation relation；And target is installed on space manipulator end 102 110, for improving binocular space camera measurement accuracy, as shown in Figure 2.
The scaling method of space manipulator is as follows by above-mentioned caliberating device：
Step 1: the kinematics model of space manipulator is established according to the joint configuration of space manipulator：
A, the module and carriage transformation matrix of binocular space camera coordinate system cam to space manipulator basis coordinates system base is set
Wherein,θ, ψ are respectively Z, Y of the Eulerian angles around binocular space camera coordinate system, X-axis rotation angle, dm, dn, do Respectively translation of the transformation matrix along X, Y, Z axis direction, c are the abbreviation of trigonometric function cos, and s is the contracting of the sin of trigonometric function It writes；
B, Kinematic Model is carried out to space manipulator using MDH methods, obtains the module and carriage transformation matrix in seven joints Ti i-1：
Wherein, Ti i-1For the module and carriage transformation matrix of joint coordinate system i-1 to i, i=1,2 ..., 7, joint coordinate system 0 with Space manipulator basis coordinates system base is consistent；MDH parameters include：The connecting rod torsional angle α in i-th of jointi, the connecting rod in i-th joint Length ai, the joint angle θ in i-th of jointi, the offset distance d in i-th of jointi, the torsional angle β in i-th of jointi, c is trigonometric function cos Abbreviation, s be trigonometric function sin abbreviation.
C, the module and carriage transformation matrix that joint coordinate system 7 arrives space manipulator ending coordinates system tool is set
Wherein,The module and carriage transformation matrix of space manipulator ending coordinates system tool, A, B, C are arrived for joint coordinate system 7 For respectively Eulerian angles around Z, Y of joint coordinate system 7, the rotation angle of X-axis, du, dv, dw are respectively transformation matrix along X, Y, Z axis The translation in direction, c are the abbreviation of trigonometric function cos, and s is the abbreviation of the sin of trigonometric function.
Step 2: the kinematics model of the space manipulator obtained according to step 1 establishes space manipulator kinematics ginseng Number peg model；
A, set the pose mapping fault of binocular space camera coordinate system cam to space manipulator basis coordinates system base as
Wherein, δ (dm) is the error amount of dm, and δ (dn) is dn error amounts, and δ (do) is the error amount of do,ForMistake Difference, δ θ are the error amount of θ, and δ ψ are the error amount of ψ；
B, setObtain the position and attitude error vector of space manipulator basis coordinates system base：
Wherein,basedx、basedy、basedz、baseδx、baseδy、baseδ z are respectively in space manipulator basis coordinates system base Lower dx, dy, dz, the error of δ x, δ y, δ z, dx, dy, dz are respectively site error of the transformation matrix along X, Y, Z axis direction, δ x, δ Y, attitude error of the transformation matrix around X, Y, Z axis direction is become for δ z points；
C, the pose mapping fault dT of space manipulator joint coordinate system is seti i-1：
Wherein, δ αi、δai、δθi、δdi、δβiRespectively αi、ai、θi、di、βiError；
D, setiΔ=(Ti i-1)-1dTi i-1(i=1,2 ..., 7), can obtain the position and attitude error vector of each joint coordinate system：
Wherein,idx、idy、idz、iδx、iδy、iδz
Dx, dy, dz, the error of δ x, δ y, δ z under respectively joint coordinate system i；
E, setObtain the pose mapping fault arrow of space manipulator ending coordinates system tool Amount：
Wherein,tooldx、tooldy、tooldz、toolδx、toolδy、toolδ z are respectively in space manipulator ending coordinates system Dx, dy, dz, the error of δ x, δ y, δ z under tool, dx, dy, dz are respectively that transformation matrix is missed along the position in X, Y, Z axis direction Difference, δ x, δ y, z points of δ become attitude error of the transformation matrix around X, Y, Z axis direction；
Step f, set error transfer relationship as：
Wherein, idxtool、idytool、idztool、iδxtool、iδytool、iδ ztoolRespectivelyidxtool、idytool、idztool、iδxtool、iδytool、iδztoolMistake under mechanical arm tail end coordinate system tool Difference represents.
G, by the position and attitude error of space manipulator basis coordinates system basebaseThe kinematics parameters of Δ and each joint coordinate system Error vectoriΔ is transformed under mechanical arm tail end coordinate system tool, obtains space manipulator kinematics parameters position and attitude error mould Type：
Ej=[GbaseHbase G1H1 G2H2 G3H3 G4H4 G5H5 G6H6 G7H7I (6)] Q=MjQ
Wherein, EjIt represents the position and attitude error in j-th of location point under space manipulator ending coordinates system tool, is 6 × 1 rank matrix；MjIt represents at j-th of location point by the error of space manipulator basis coordinates system base and each joint coordinate system Vector is 6 × 47 rank matrixes to the module and carriage transformation matrix of space manipulator ending coordinates system tool position and attitude errors；Q representation spaces Mechanical arm basis coordinates system position and attitude error vector, each joint coordinate system position and attitude error vector, mechanical arm tail end coordinate system position and attitude error 47 × 1 ranks vector of vector composition；
H, show that space manipulator kinematics parameters position is missed according to space manipulator kinematics parameters position and attitude error model Differential mode type：
Wherein,For EjPreceding 3 row,Take MjPreceding 3 row and it is preceding 44 row, QpFor 44 rows before Q；
I, according to space manipulator kinematics parameters site error model foundation space manipulator kinematic calibration (error) model：
E=MQp (11)
In formula
Can obtain space manipulator kinematic calibration (error) model by least square method is：
Qp=(MTM)-1MTE (12)
Space manipulator kinematic parameter errors Q can be calculated according to above formulap。
Step 3: according to the structure and parameter of mechanical arm, the cube in space manipulator working space is selected, by being Controller of uniting sends movement instruction to space manipulator, its end is made uniformly to reach 50 location points in cube, and is pacified Target loaded on space manipulator end is in each location point towards binocular space camera；
Step 4: at each location point, system controller reads space manipulator joint angle θ1-θ7, and it is empty by binocular Between camera measurement mechanical arm tail end position xj、yj、zj, i.e. target placement；
Step 5, system controller is by the joint angle θ at 50 location points1-θ7Value, mechanical arm tail end position xj、yj、 zjThe space manipulator kinematic calibration model that step 2 obtains is substituted into, revised kinematics parameters is calculated, and carries out Successive ignition, until kinematic parameter errors precision is met the requirements；
Step 6: the revised kinematics parameters that system controller obtains step 5 are transmitted to space manipulator, it is complete The on-orbit calibration of paired space manipulator kinematics parameters.

Claims (3)

  1. A kind of 1. space manipulator kinematics parameters on-orbit calibration method based on binocular space camera, it is characterised in that：Pass through Following step is completed：
    Step 1：The kinematics model of space manipulator is established according to the joint configuration of space manipulator；
    Step 2：The kinematics model of the space manipulator obtained according to step 1 establishes space manipulator kinematic calibration Model；
    Step 3：Movement instruction is sent from system controller to space manipulator, it is made uniformly to run to 50 location points, and is pacified Target loaded on space manipulator end is at each location point towards binocular space camera；
    Step 4：At each location point, system controller reads space manipulator joint angle θ1~θ7, and by binocular space camera Measure mechanical arm terminal position xj、yj、zj, j is location point number.
    Step 5：System controller is by the joint angle θ at 50 location points1~θ7, target position xj、yj、zjJoin with theory movement Number substitutes into space manipulator kinematic calibration model, calculates kinematics parameters after correcting；
    Step 6：Revised kinematics parameters are transmitted to space manipulator by system controller, complete to move space manipulator Learn the calibration of parameter.
  2. A kind of 2. space manipulator kinematics parameters on-orbit calibration method based on binocular space camera, it is characterised in that：It is related to To a kind of space manipulator kinematics parameters on-orbit calibration system, capital equipment includes space manipulator and caliberating device, pacifies It fills and is fixed on the external side of station module, known to the two pose transformation relation；Wherein, caliberating device includes binocular space camera with being System controller；System controller is responsible for the whole control of calibration system, communicates respectively with space manipulator and binocular space camera.
  3. A kind of 3. space manipulator kinematics parameters on-orbit calibration method based on binocular space camera, it is characterised in that：Space Mechanical arm tail end is equipped with target, for improving binocular space camera measurement accuracy.
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CN109341718A (en) * 2018-09-27 2019-02-15 北京伟景智能科技有限公司 Scaling method and device based on multi-vision visual
CN109605344A (en) * 2019-01-09 2019-04-12 北京精密机电控制设备研究所 A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method
CN112379666A (en) * 2020-09-28 2021-02-19 亿嘉和科技股份有限公司 Bucket arm vehicle bucket adjustment operation guiding method based on satellite integrated navigation information
CN112408281A (en) * 2020-09-28 2021-02-26 亿嘉和科技股份有限公司 Bucket adjusting operation guiding method of bucket arm vehicle based on visual tracking
CN114589698A (en) * 2022-04-07 2022-06-07 北京信息科技大学 Mechanical arm model-free real-time calibration method and device based on multi-target visual measurement and machine learning
CN114800534A (en) * 2022-06-29 2022-07-29 杭州三坛医疗科技有限公司 Mechanical arm control method and device
CN115493513A (en) * 2022-08-15 2022-12-20 北京空间飞行器总体设计部 Visual system applied to space station mechanical arm

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CN112379666A (en) * 2020-09-28 2021-02-19 亿嘉和科技股份有限公司 Bucket arm vehicle bucket adjustment operation guiding method based on satellite integrated navigation information
CN112408281A (en) * 2020-09-28 2021-02-26 亿嘉和科技股份有限公司 Bucket adjusting operation guiding method of bucket arm vehicle based on visual tracking
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CN114589698B (en) * 2022-04-07 2023-06-06 北京信息科技大学 Model-free real-time calibration method and device for mechanical arm based on multi-target vision measurement and machine learning
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CN115493513A (en) * 2022-08-15 2022-12-20 北京空间飞行器总体设计部 Visual system applied to space station mechanical arm

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