【摘要】 针对在地面很难对空间机器人目标捕获过程进行微重力环境下的真实实验问题,建立了半物理仿真系统,以对图像处理、路径规划以及控制等关键算法进行验证.该系统的关键在于将"虚拟环境"与"真实环境"结合起来,利用真实视觉对虚拟环境进行3D重构,以计算目标的相对位置和姿态,实现对视觉伺服控制的闭环仿真.从理论上推导了半物理仿真的原理,并提出了等效投影模型的标定方法.仿真结果表明了该方法的有效性.更多还原

【Abstract】 It is very difficult to experiment the target capturing process of space robot in real micro-gravity environment on the earth.Therefore,a semi-physical simulation system is proposed to verify the key algorithms,including the image processing,path planning and control of space robot.The core of the system is combining the "virtual environment" with the "physical environment".The real visual measurement system is used to reconstruct the virtual environment in three dimensions,and compute the relative position and attitude of the target.Then the visual servoing control is simulated in closed loop.The theoretical equations of the equivalent projection model are deduced and the corresponding calibration algorithm is proposed.The simulated experiment results show the effectiveness of the method.更多还原