机器人在轨装配无标定视觉伺服对准方法

doi:10.7527/S1000-6893.2020.24063

Abstract

Abstract: In the on-orbit assembly process of space robots, the relationship between their "hands" and "eyes" cannot be effectively calibrated, and the inertial parameters of the robot and the object being operated are variable, which may lead to assembly failure. To solve this problem, we design a depth estimator based on the traditional uncalibrated visual servo. It can estimate the depth value of the target feature online using the measurement data of the robot and the image motion. A sliding mode controller is designed in the space robot joint control ring to control the robot joint motion in real time, and the system error is corrected according to the feedback image information to complete alignment and tracking. Finally, the effectiveness of the method is verified by simulation. The uncalibrated visual servo alignment method proposed in this paper can free the space robot from the complicated calibration program, thereby overcoming the influence of uncertain inertial parameters on the assembly accuracy and improving the robustness of "hand-eye coordination" to ensure successful completion of on-orbit assembly tasks of the space robot in complex space environments.

Key words: on-orbit assembly, space robots, uncalibrated visual servo, depth estimation, parameter uncertainty, sliding-mode control

CLC Number:

V476.1
TH17

JIA Qingxuan, DUAN Jiaqi, CHEN Gang. Uncalibrated visual servo of space robots performing on-orbit assembly alignment task[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(6): 424063-424063.

References

[1] WANG E, WU S, WU Z, et al. Distributed adaptive vibration control for solar power satellite during on-orbit assembly[J]. Aerospace Science and Technology, 2019, 94:105378.
[2] SAUNDERS C, LOBB D, SWEETING M, et al. Building large telescopes in orbit using small satellites[J]. Acta Astronautica, 2017, 141:183-195.
[3] SHE Y C, LI S, DU B, et al. On-orbit assembly mission planning considering topological constraint and attitude disturbances[J]. Acta Astronautica, 2018, 152:692-704.
[4] 梁斌, 杜晓东, 李成, 等. 空间机器人非合作航天器在轨服务研究进展[J]. 机器人, 2012, 34(2):242-256. LIANG B, DU X D, LI C, et al. Research progress on in-orbit service of space robot non-cooperative spacecraft[J]. Robot, 2012, 34(2):242-256(in Chinese).
[5] 崔乃刚, 王平, 郭继峰, 等. 空间在轨服务技术发展综述[J]. 宇航学报, 2007, 28(4):805-811. CUI N G, WANG P, GUO J F, et al. A review of on-orbit servicing[J]. Journal of Astronautics, 2007, 28(4):805-811(in Chinese).
[6] 贾平. 国外在轨装配技术发展简析[J]. 国际太空, 2016(12):61-64. JIA P. Development analysis of foreign on-orbit assembly technologies[J]. Space International, 2016(12):61-64(in Chinese).
[7] 杨延蕾, 江炜. 在轨3D打印及装配技术在深空探测领域的应用研究进展[J]. 深空探测学报, 2016, 3(3):282-287. YANG Y L, JIANG W. Review of on-orbit 3D printing and assembly technology for deep space exploration application[J]. Journal of Deep Space Exploration, 2016, 3(3):282-287(in Chinese).
[8] 王雪瑶. 国外在轨服务系统最新发展[J]. 国际太空, 2017(11):65-69. WANG X Y. Development of foreign on-orbit service systems[J]. Space International, 2017(11):65-69(in Chinese).
[9] 李团结, 马小飞, 岳华, 等. 大型空间天线在轨装配技术[J]. 载人航天, 2013, 19(1):86-90. LI T J, MA X F, YUE H, et al. On-orbit assembly technology of large space antennas[J]. Manned Spaceflight, 2013, 19(1):86-90(in Chinese).
[10] 刘冰雁, 叶雄兵, 周赤非, 等. 基于改进DQN的复合模式在轨服务资源分配[J]. 航空学报, 2020, 41(5):323630. LIU B Y, YE X B, ZHOU C F, et al. Allocation of composite mode on-orbit service resource based on improved DQN[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(5):323630(in Chinese).
[11] STARITZ P, SKAFF S, URMSON C, et al. Sky-worker:a robot for assembly, inspection and maintenance of large scale orbital facilities[C]//International Conference on Robotics & Automation, 2001:4180-4185.
[12] 王博, 言勇华. 基于图像的无标定视觉伺服系统[J].机械设计与研究, 2019, 35(3):135-139. WANG B, YAN Y H. Image based uncalibrated visual servoing system[J]. Machine Design & Research, 2019, 35(3):135-139(in Chinese).
[13] 陈梅, 车尚岳. 无标定视觉伺服机器人跟踪控制策略研究[J]. 控制工程, 2019, 26(6):1055-1059. CHEN M, CHE S Y. Research on tracking control strategy of uncalibrated robot visual servo system[J]. Control Engineering of China, 2019, 26(6):1055-1059(in Chinese).
[14] 陶波, 龚泽宇, 丁汉. 机器人无标定视觉伺服控制研究进展[J]. 力学学报, 2016,48(4):767-783. TAO B, LONG Z Y, DING H. Survey on uncalibrated robot visual servoing control[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016,48(4):767-783(in Chinese).
[15] NI Z Y, LIU J G, WU Z G, et al. Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method[J]. Chinese Journal of Aeronautics, 2019, 32(2):303-320.
[16] OLIVEIRA T R, LEITE A C, PEIXOTO A J, et al. Overcoming limitations of uncalibrated robotics visual servoing by means of sliding mode control and switching monitoring scheme[J]. Asian Journal of Control, 2014, 16(3):752-764.
[17] CHEAH C C, LIU C, SLOTINE J J. Adaptive tracking control for robots with unknown kinematic and dynamic properties[J]. International Journal of Robotics Research, 2006, 25(3):283-296.
[18] CHEAH C C, LIU C, SLOTINEE J J. Adaptive vision based tracking control of robots with uncertainty in depth information[C]//International Conference on Robotics and Automation, 2007:2817-2822.
[19] SANTAMARIA A, GROSCH P, LIPPIELLO V, et al. Uncalibrated visual servo for unmanned aerial manipulation[J]. Transactions on Mechatronics, 2017, 22(4):1610-1621.
[20] CHEAH C C, LIU C, SLOTINE J J. Adaptive Jacobian vision based control for robots with uncertain depth information[J]. Automatica, 2010, 46(7):1228-1233.
[21] LIU Y H, WANG H, WANG C, et al. Uncalibrated visual servoing of robots using a depth-independent interaction matrix[J]. Transactions on Robotics, 2006, 22(4):804-817.
[22] LIANG X, HUANG X, WANG M, et al. Improved stability results for visual tracking of robotic manipulators based on the depth-independent interaction matrix[J]. Transactions on Robotics, 2011, 27(2):371-379.

Uncalibrated visual servo of space robots performing on-orbit assembly alignment task

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Fenfen XIONG, Zexian LI, Yu LIU, Tangfan XIAHOU. A review of characterization methods for parameter uncertainty in engineering design based on numerical simulation [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(22): 28611-028611.
[2]	CHEN Zhiyuan, LI Luyi. Efficient methods for reliability sensitivity analysis of inputs with distribution parameter uncertainty [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325881-325881.
[3]	WU Cihang, YAN Jianguo, QIAN Xianyun, GUO Yiming, QU Yaohong. Predefined-time attitude stabilization control of receiver aircraft [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(2): 324996-324996.
[4]	ZHONG Yun, WAN Lujun, ZHANG Jieyong. Optimized selection method for air combat course of action with interval uncertainty [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324282-324282.
[5]	CHU Weimeng, YANG Jinzhao, WU Shu'nan, WU Zhigang. LSTM-based on-orbit identification of inertia tensor for space robot system [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524615-524615.
[6]	LI Wenhao, ZHANG Heng, FENG Guanhua. Cooperative teleoperation for multi-master/multi-slave systems with large time-varying delays [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523896-523896.
[7]	ZHOU Yiqun, LUO Jianjun, WANG Mingming. Load distribution for space robots after target capture [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523915-523915.
[8]	GE Jiahao, LIU Li, DONG Xinxin, TIAN Weiyong, LU Tianhe. Trajectory planning for free floating space robots based on kinodynamic RRT^* [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523877-523877.
[9]	WANG Mingming, LUO Jianjun, YUAN Jianping, WANG Jiawen, LIU Cong. In-orbit assembly technology: Review [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523913-523913.
[10]	LIU Jinglong, ZHANG Chongfeng, ZOU Huaiwu, LI Ning, WU Linna. On-orbit precise operation control method for flexible joint space robots based on disturbance observer [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523899-523899.
[11]	HAN Fei, LIU Fucheng, WANG Zhaolong, DU Xuan, LIU Shanshan, LIU Chaozhen. Multiple line-of-sight angles-only relative navigation by multiple collaborative space robots [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524174-524174.
[12]	MENG Guang, HAN Liangliang, ZHANG Chongfeng. Research progress and technical challenges of space robot [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523963-523963.
[13]	MENG Zhongjie, HUANG Panfeng, WANG Dongke. In-plane adaptive retrieval method for tethered space robots after target capturing [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(12): 4035-4042.
[14]	Sun Sheng;Zhou Di. Design of Discrete Sliding-mode Guidance Laws [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2008, 30(6): 1634-1639.
[15]	WANG Tong;ZHANG Ling-mi. Frequency Domain Multiple Input / Output Modal Parameters Identification with Consideration of Stochastic Noise [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2004, 25(6): 560-564.