航天器工程2017，Vol.26Issue(3)：31-37,7.DOI:10.3969/j.issn.1673-8748.2017.03.005
视觉测量误差对空间机械臂捕获目标卫星控制精度的影响分析
Influence Analysis of Visual Measurement Errors on Space Manipulator Control Precision for Capturing a Target Satellite
摘要
Abstract
Space manipulator uses visual servo to measure the relative position and attitude information between its end effector and the target satellite,so as to plan and control its joint motion trajectories to complete the capturing operation.This paper focuses on the influence analysis of visual measurement errors on space manipulator control precision for capturing the target satellite.The measurement error model of visual servo system is established,then,the transfer models from measurement errors to one-step and final control errors are derived on the basis of target satellite capturing control algorithm.The control precision of relative position,attitude,linear velocity and angular velocity corresponding to different measurement errors is calculated by numerical simulations.The maximal measurement errors permitted by the given control precision are presented as conclusions.The results of this paper can provide references for the measurement and control precision design of the space manipulator.关键词
空间机械臂/目标卫星捕获/视觉测量误差/控制精度Key words
space manipulator/target satellite capturing/visual measurement error/control precision分类
信息技术与安全科学引用本文复制引用
王兴龙,周志成,曲广吉..视觉测量误差对空间机械臂捕获目标卫星控制精度的影响分析[J].航天器工程,2017,26(3):31-37,7.基金项目
国家自然科学基金(11272334) （11272334）
