机器人2012，Vol.34Issue(3)：307-313,320,8.DOI:10.3724/SP.J.1218.2012.00307
运载火箭推进剂加注自动对接与脱离机器人自动上箭模块控制系统的设计与实验
Design and Experiment of the Control System for Automatic Rocket-attaching Module of Auto-docking and Auto-separating Robot for Launch Vehicle Propellant Loading
摘要
Abstract
Aiming at the automatic rocket-attaching problem of the auto-docking and auto-separating robot for launch vehicle propellant loading, a control system is designed for the automatic rocket-attaching module. The system uses image processing algorithm to provide visual information for the autonomous navigation positioning in plane, and the force servo algorithm is designed to assist the rocket-attaching to complete smoothly. A large number of docking simulation experiments and the experiments on real rockets prove the reliability and stability of the control system.关键词
机器人/推进剂加注/自动上箭/视觉定位/力伺服Key words
robot/ propellant loading/ automatic rocket-attaching/ visual positioning/ force servo分类
信息技术与安全科学引用本文复制引用
赵帅锋,顿向明,张育林,陆晋荣,邹利鹏,许北辰..运载火箭推进剂加注自动对接与脱离机器人自动上箭模块控制系统的设计与实验[J].机器人,2012,34(3):307-313,320,8.基金项目
国家863计划资助项目(2007AA04Z249). （2007AA04Z249）
