Research on In-orbit Peg-in-hole Docking Technology Based on Machine Vision and Compliant Control
The in-orbit satellite refuelling operation involves simultaneous docking of multiple pipe-lines between spacecrafts in the zero-gravity environment.To address this problem,an auxiliary traction/repulsion docking system capable of solid connection was designed.A visual guidance sys-tem for non-cooperative target was implemented using a template matching algorithm based on edge information and a pose measurement algorithm based on the camera pinhole model.After establis-hing traction/repulsion effects between the mechanisms,compliant insertion and separation of multi-ple pipelines were achieved using admittance control algorithm with a preposed proportional-deriva-tive controller.A robot platform equipped with a monocular camera and a six-dimensional force sen-sor was established for experiments.The results showed that the horizontal position error of visual al-gorithm did not exceed 4 mm,meeting the initial pose requirements for subsequent operations.The compliant control algorithm could avoid jamming issues during the docking operation,and the inter-action forces and torques between the mechanisms were maintained within 20 N and 0.8 Nm,re-spectively.The system was capable of completing multi-pipeline docking tasks with small clearance and long insertion depth while reducing pose and orbit disturbances suffered by the spacecrafts con-ducting the mission.
peg-in-hole assemblyon-orbit servicemachine visionpose measurementcompliant control
万方数据
维普
