CN116442233B - Hand-eye calibration method for seven-degree-of-freedom space manipulator on-orbit operation - Google Patents
Hand-eye calibration method for seven-degree-of-freedom space manipulator on-orbit operation Download PDFInfo
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
A hand-eye calibration method for on-orbit operation of a seven-degree-of-freedom space mechanical arm belongs to the technical field of on-orbit calibration of space mechanical arms, and is used for solving a pose transformation matrix of an optical center coordinate system of a camera at the tail end of the mechanical arm relative to an optical center coordinate system at the tail end of the mechanical arm, so that the vision measurement precision of the mechanical arm can be effectively improved, and the high-precision on-orbit operation of the space mechanical arm is realized. S1, judging whether the current state of the mechanical arm can be subjected to parameter correction by directly grabbing the target adapter; if yes, directly capturing the target adapter, then entering S3, and if not, entering S2; s2, performing preliminary correction by using a multi-time measurement method; s3, correcting the external parameters of the eyes and hands through a grabbing adapter method. The invention can be used for realizing the accurate matching of the tail end of the mechanical arm and the camera, effectively improving the motion precision of the on-orbit operation of the space mechanical arm, realizing the object grabbing and positioning with high precision, avoiding the damage to the mechanical arm body and the target object caused by the misoperation of the mechanical arm and greatly improving the working efficiency.
Description
Technical Field
The invention belongs to the technical field of on-orbit calibration of space mechanical arms, and particularly relates to a hand-eye calibration method for on-orbit operation of a seven-degree-of-freedom space mechanical arm.
Background
With the development and maturity of aerospace technology, the exploration depth of human beings for space is gradually increased. The gradual establishment and the use of space stations also show that the opportunity and time for human beings to conduct scientific research and exploration in space are greatly increased. The space manipulator is used as an important or even indispensable auxiliary means for astronauts in space activities, and can be widely applied in future space activities. The end camera of the mechanical arm is used as an important means for assisting the mechanical arm to finish on-orbit operation, and the accurate pose relation between the end of the mechanical arm and the camera is required to be known in the use process. However, after the space manipulator is developed successfully on the ground and before the space manipulator is put into use on the track, errors accumulated due to factors such as vibration, gravity unloading and the like in the process of transportation and rocket launching exist, and the positions of the tail end of the manipulator and the optical center of the camera are possibly changed in the processes, so that the pose conversion relation between the camera and the tail end of the manipulator is changed, and further the vision measurement precision and effect of the camera are affected.
Disclosure of Invention
The invention aims to solve the problems, and further provides a hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space mechanical arm, which is used for solving a pose transformation matrix of a camera optical center coordinate system at the tail end of the mechanical arm relative to a coordinate system at the tail end of the mechanical arm, so that the vision measurement precision of the mechanical arm can be effectively improved, and the high-precision on-orbit operation of the space mechanical arm is realized.
The technical scheme adopted by the invention is as follows:
a hand-eye calibration method for on-orbit operation of a seven-degree-of-freedom space manipulator comprises the following steps:
s1, judging whether the current state of the mechanical arm can be subjected to parameter correction by directly grabbing the target adapter; if yes, directly capturing the target adapter, then entering S3, and if not, entering S2;
s2, performing preliminary correction by using a multi-time measurement method;
s3, correcting the external parameters of the eyes and hands through a grabbing adapter method, and uploading the calculation result.
Compared with the prior art, the invention has the following beneficial effects:
the invention can be used for realizing the accurate matching of the tail end of the mechanical arm and the camera, effectively improving the motion precision of the on-orbit operation of the space mechanical arm, realizing the object grabbing and positioning with high precision, avoiding the damage to the mechanical arm body and the target object caused by the misoperation of the mechanical arm, greatly improving the working efficiency and reducing the workload of astronauts or ground operators.
Drawings
FIG. 1 is a flow chart of an overall embodiment of the present invention;
FIG. 2 is a diagram of an embodiment of the capture adapter method of the present invention;
FIG. 3 is an adapter coordinate system O during the test spq Adapter target coordinate system O t (X axis is vertical inwards, Z axis is the direction of symmetry axis of the target, Y axis is determined according to right hand rule), and target reference coordinate system O m (the coordinate system is fixed and relative to the adapter target coordinate system O during calibration) t Pose relationship unchanged) and world coordinate system O w The relative position relation is sketched (fixed in the calibration process);
FIG. 4 is a schematic view of an adapter model and a constraint angle;
FIG. 5 is a robot arm tip coordinate system O er End reference frame O n The position relation diagram is (the position relation is unchanged relative to the tail end coordinate system of the mechanical arm);
fig. 6 is an adapter target captured by a camera at the end of a robotic arm in a configuration during an experiment.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, reference should be made to the following detailed description of the invention with reference to the accompanying drawings.
Referring to fig. 1 to 6, the hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator of the invention comprises the following steps:
s1, judging whether the current state of the mechanical arm can be subjected to parameter correction by directly grabbing a target adapter by an astronaut or a ground operator; if yes, directly capturing the target adapter, then entering S3, and if not, entering S2;
wherein: the specific process of directly capturing the target adapter is that firstly, the multi-joint linkage of the seven-degree-of-freedom mechanical arm is controlled to a capturing configuration, and the tail end track planning fine adjustment is carried out, so that the capturing of the target adapter is finally realized.
Grabbing the target adapter requires the robotic arm to move through visual servoing in free space and repeatedly capture the target adapter multiple times.
The operation flow of the capturing target adapter is mainly divided into a capturing section and a releasing section: the capturing section firstly moves the tail end of the mechanical arm to a rough positioning point by utilizing visual servo, then advances to a fine positioning point, then performs medium-speed pre-capturing of the tail end of the mechanical arm in an impedance control mode, and switches a zero-force control mode after the capturing section is completed, at the moment, the closed angle of the paw can prevent the mechanical arm from losing the target adapter due to zero-force offset, and the locking of the target adapter is realized by medium-speed capturing of the tail end of the mechanical arm again; and the release section firstly releases the tail end adapter to a transition position, and the mechanical arm moves to a fine positioning point by utilizing visual servo movement in an impedance mode so as to realize the alignment of the gesture between the mechanical arm and the target adapter, and then finishes the medium-speed release of the tail end paw of the mechanical arm in a zero-force mode and returns to the initial gesture, wherein the overall process is shown in figure 2.
S2, if the current state of the mechanical arm cannot be corrected through grabbing the target adapter, performing preliminary correction by using a multi-time measurement method, wherein the specific method comprises the following steps:
s21: the gesture of the mechanical arm is finely adjusted to align with the visual target closest to the gesture;
s22: according to the current on-orbit state, a calibration configuration suitable for N combinations is formulated;
s23: the mechanical arm is moved to each calibration configuration by utilizing multi-joint linkage to carry out multiple visual measurement, and external parameter data are updated;
s24: visual servo of the mechanical arm to the vicinity of the corresponding target adapter rough positioning point is carried out by utilizing the corrected result;
s25: judging whether the camera shooting image is reasonable or not, namely judging whether the camera shooting image is consistent with the ground shooting image or not; if the visual servo is reasonable, moving to the fine positioning point through the visual servo and then entering S28, and if the visual servo is not reasonable, entering S26;
s26: if the result obtained by the multiple measurement method is inaccurate, the ground personnel judge the actual deviation state, and the tail end gesture of the mechanical arm is adjusted through tail end track planning so as to be aligned to the target adapter;
s27: planning the tail end track of the mechanical arm to a fine positioning point;
s28: and carrying out operation of capturing the target adapter, and completing on-orbit calibration of relative position parameters of the tail end paw of the mechanical arm and the camera.
When in on-orbit operation, the non-contact hand-eye calibration (multiple measurement method) can be realized by controlling the movement of the mechanical arm, and the specific principle is as follows:
in the adapter target coordinate system O t And world coordinate system O w On the premise of keeping unchanged the pose relationship, the mechanical arm is controlled to move to N groups of different calibration configurations. For each set of calibration configurations, an adapter target coordinate system O is recorded t Transformation relation relative to hand-eye camera coordinate system c T ti Transformation relation of end reference coordinate system relative to world coordinate system w T ni . As can be seen from the coordinate system definition in FIG. 5, the end reference coordinate system O n Relative to the end of arm coordinate system O er The position and posture relation of the model (a) is unchanged, w T ni can be further converted into the pose relation of the tail end coordinate system of the mechanical arm w T eri 。
Because of the adapter target coordinate system O during calibration t Relative to world coordinate system O w At rest, vector moments i and i+1 can get the following constraint:
further transform into:
wherein A represents a motion related term of the mechanical arm, B represents a measurement related term of the terminal camera, and X is an external parameter matrix to be solved.And er T c the transformation relation of the adapter target coordinate system and the camera coordinate system of the hand and eye and the pose transformation relation of the camera coordinate system and the tail end coordinate system of the mechanical arm, which respectively represent the moment i, are shown.
Thus, the hand-eye calibration problem at the end of the robot arm can be converted into a mathematical problem solved by equation ax=xb. The solution of X can be used for respectively solving an attitude rotation matrix R and a position transformation matrix t, and reference can be made to the two-step method proposed in the literature such as Wang C.Extrinsic calibration of a robot sensor mounted on a robot [ J ]. IEEE Trans Robotics Autom,1992,8 (2): 161-175'; the attitude rotation matrix R and the position transformation matrix t can also be solved synchronously, and the single-step method is proposed in the references of Andreff N, horaud R, espiau B.on-line Hand-Eye registration.In Second International Conference on 3-D Digital Imaging and Modeling (3 DIM' 99), 1999:430-436.
In the test process, in order to ensure the effectiveness of vision measurement, the angle of the optical center coordinate system of the camera around the Y axis needs to meet the specified constraint, otherwise, the shielding problem occurs, as shown in fig. 4.
According to the design parameters of the mechanical arm target adapter, the following angle relation can be obtained:
θ h ＝tan -1 (16-9/40)＝9.93° (3)
θ l ＝tan -1 (49.25-20.3-20+3/130.7)＝5.22° (4)
for this purpose, the following constraint relationship is set:
-(27-3+20+|t x |·tan5°)≤t z ≤|t x |·tan 9.5° (5)
because the multi-measurement method requires the mechanical arm to move to a plurality of different configurations to acquire visual measurement after movement is stopped and mechanical arm pose information, the requirement on-orbit operation planning is higher. Therefore, when the test condition is poor, the calculation result may not meet the requirement. At the moment, ground personnel are needed to assist in completing the adjustment of the tail end gesture of the mechanical arm.
S3, correcting the external parameters of the eyes and hands by a grabbing adapter method, and uploading the calculation result;
wherein: the specific process of the grabbing adapter method is as follows:
s31: before entering the track, precisely measuring each target adapter to obtain a target coordinate system O t Relative to the adapter coordinate system O spq Pose transformation moment of (2)Array relationship spq T t ；
S32: on the premise that the tail end of the mechanical arm captures and locks the adapter, the vision measurement value of the camera is recorded c T t (target coordinate System O) t Pose transformation relation relative to camera optical center coordinate system);
s33: after the tail end of the mechanical arm captures the target adapter on orbit, the tail end coordinate system O of the mechanical arm er And the adapter body coordinate system O spq Overlapping;
s34: according to the pose conversion relation, the pose conversion relation of the camera coordinate system relative to the tail end coordinate system of the mechanical arm can be calculated er T c Namely, camera external parameters:
er T c ＝ spq T c ＝ spq T t t T c ＝ spq T t c T t -1 (6)
after grabbing the target adapter, according to the formula (6), the pose transformation relation of the camera coordinate system relative to the tail end coordinate system of the mechanical arm can be calculated er T c And the correction of camera external parameters is realized.
And t T c respectively represent a target coordinate system O t Inverse matrix of pose transformation relation relative to camera optical center coordinate system, and camera optical center coordinate system relative to target coordinate system O t Pose transformation relation of (a).
The end track planning in S1 and S2 is realized by combining a kinematic equation and D-H parameters of the mechanical arm.
The movement of the mechanical arm in S2 to the fine positioning point needs to be completed through visual servoing.
It will be understood that the invention has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. A hand-eye calibration method for on-orbit operation of a seven-degree-of-freedom space mechanical arm is characterized by comprising the following steps of: the method comprises the following steps:
s1, judging whether the current state of the mechanical arm can be subjected to parameter correction by directly grabbing the target adapter; if yes, directly capturing the target adapter, then entering S3, and if not, entering S2;
s2, performing preliminary correction by using a multi-time measurement method;
s3, correcting the external parameters of the eyes and hands by a grabbing adapter method, uploading the calculated result,
the specific process of the grabbing adapter method is as follows:
s31: before entering a rail, precisely measuring each target adapter to obtain a pose transformation matrix relation spqTt of a target coordinate system Ot relative to an adapter coordinate system Ospq;
s32: on the premise that the tail end of the mechanical arm captures and locks the adapter, recording a camera vision measurement value cTt;
s33: after the tail end of the mechanical arm captures the target adapter on orbit, the coordinate system Oer of the tail end of the mechanical arm coincides with the coordinate system Ospq of the adapter body;
s34: according to the pose conversion relation, the pose conversion relation erTc of the camera coordinate system relative to the tail end coordinate system of the mechanical arm, namely the camera external parameters, can be calculated:
er T c ＝ spq T c ＝ spq T t t T c ＝ spq T t c T t -1 (1)
after grabbing the target adapter, according to the formula (1), the pose transformation relation erTc of the camera coordinate system relative to the tail end coordinate system of the mechanical arm can be calculated, and the correction of the camera external parameters is realized, wherein,and t T c respectively representing an inverse matrix of the pose transformation relation of the target coordinate system Ot relative to the camera optical center coordinate system and the pose transformation relation of the camera optical center coordinate system relative to the target coordinate system Ot.
2. The hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator according to claim 1, wherein the method comprises the following steps: the specific process of directly capturing the target adapter in the step S1 is that firstly, the multi-joint linkage of the seven-degree-of-freedom mechanical arm is controlled to a capturing configuration, and the tail end track planning fine adjustment is carried out, so that the capturing of the target adapter is finally realized.
3. The hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator according to claim 2, wherein the method comprises the following steps: the operation flow of the capturing target adapter in the S1 is divided into a capturing section and a releasing section: the capturing section firstly moves the tail end of the mechanical arm to a rough positioning point by utilizing visual servo, then advances to a fine positioning point, then pre-captures the tail end of the mechanical arm in an impedance control mode, and switches a zero-force control mode after the pre-capturing is completed, at the moment, the closed angle of the paw can prevent the mechanical arm from losing the target adapter due to zero-force offset, and the tail end of the mechanical arm captures again to realize the locking of the target adapter; and the release section firstly releases the tail end adapter to a transition position, and the mechanical arm moves to a fine positioning point by utilizing visual servo in an impedance mode so as to realize the alignment of the gesture between the mechanical arm and the target adapter, and then completes the release of the tail end paw of the mechanical arm in a zero-force mode and returns to the initial gesture.
4. The hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator according to claim 2, wherein the method comprises the following steps: the multiple measurement method in S2 specifically comprises the following steps:
s21: the gesture of the mechanical arm is finely adjusted to be aligned with the nearest visual target;
s22: according to the on-orbit state, a calibration configuration suitable for N combinations is formulated;
s23: the mechanical arm is moved to each calibration configuration by utilizing multi-joint linkage to carry out multiple visual measurement, and external parameter data are updated;
s24: visual servo of the mechanical arm to the vicinity of the corresponding target adapter rough positioning point is carried out by utilizing the corrected result;
s25: judging whether the image shot by the camera is reasonable or not; if the visual servo is reasonable, moving to the fine positioning point through the visual servo and then entering S28, and if the visual servo is not reasonable, entering S26;
s26: judging the actual deviation state by ground personnel, and adjusting the tail end gesture of the mechanical arm through tail end track planning to enable the tail end gesture to be aligned to the target adapter;
s27: planning the tail end track of the mechanical arm to a fine positioning point;
s28: and carrying out operation of capturing the target adapter, and completing on-orbit calibration of relative position parameters of the tail end paw of the mechanical arm and the camera.
5. The hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator according to claim 4, wherein the method comprises the following steps: the end track planning in S1 and S2 is realized by combining a kinematic equation and D-H parameters of the mechanical arm.
6. The hand-eye calibration method for the on-orbit operation of the seven-degree-of-freedom space manipulator according to claim 4, wherein the method comprises the following steps: the movement of the mechanical arm in S2 to the fine positioning point needs to be completed through visual servoing.
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| CN114407013A (en) * | 2022-01-19 | 2022-04-29 | 哈尔滨工业大学 | Motion trajectory planning method for mechanical arm servo rolling satellite docking ring |
| 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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| EP3705239A1 (en) * | 2019-03-01 | 2020-09-09 | Arrival Limited | Calibration system and method for robotic cells |
| CN111591474A (en) * | 2020-02-28 | 2020-08-28 | 上海航天控制技术研究所 | Alignment type hand-eye calibration method for spacecraft on-orbit operating system |
| CN114407013A (en) * | 2022-01-19 | 2022-04-29 | 哈尔滨工业大学 | Motion trajectory planning method for mechanical arm servo rolling satellite docking ring |
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