【摘要】 由于各种因素的影响,在轨机械臂的结构参数势必不同于其在地面时的结构参数。为提高机械臂作业时的定位精度,必须对其进行重新标定。提出了一种自带CCD相机的空间机械臂结构参数的自标定方法,解决了在太空中无外部测量设备参与时机械臂的标定问题,使机械臂末端操作器的精确定位成为可能。仿真结果验证了所提方法的正确性。更多还原

【Abstract】 The parameters of a space manipulator on-orbit are unavoidably different from those before it was sent to the outer space for the effect of various factors.It is necessary to re-calibrate it to improve its’ orientation accuracy.A self-calibration method was provided to identify the structure parameter for a space robot equipped with two CCD cameras,which present a solution for a space robot calibration without using extra measurement device,and thus make it possible to pose the end effector precisely.Simulation result verifies the correctness of the proposed method.更多还原