Research on Self-calibration Method of Space Manipulator Based on Multi-visual Target Distribution
A self-calibration method based on multi-visual target distribution was proposed to address the problems of traditional self-calibration methods based on visual measurement,such as small measurable area and only measuring the pose within the local workspace of space robot.By analyzing the relationship between the size of the measurable area of the hand-eye camera and the number and position of targets,and selecting the distribution information of multi-visual targets based on the tar-get with the highest observability index,the end pose of the robot can be measured in multiple are-as.Finally,simulation experiments were conducted on a 7-degree-of-freedom space robot.The ex-perimental results showed that the average position error and attitude error of the single vision target measurement scheme were reduced by 70.68%and 72.41%,respectively.The average position er-ror and attitude error of the multi-vision target measurement scheme were reduced by 88.66%and 84.17%,respectively.Compared with the single visual target measurement scheme,the measure-ment scheme based on multi-visual targets could better characterize the influence of errors,improve the reliability and global optimality of calibration results.The effectiveness of the self-calibration scheme based on the distribution of multi-visual targets was verified.
space manipulatormulti-visual target distributionself-calibrationaccuracy improvement
万方数据
维普
