上海航天（中英文）2024，Vol.41Issue(4)：58-66,9.DOI:10.19328/j.cnki.2096-8655.2024.04.008
基于任务性的航天电连接器抓取方法
A Task-based Grasping Method for Aerospace Electrical Connectors
李万琴 1景海涛 2方发明 1马晓龙 3邹怀武 3黎丰3
作者信息
- 1. 华东师范大学 计算机科学与技术学院,上海 200062
- 2. 南京航空航天大学 航天学院,江苏 南京 210016
- 3. 上海宇航系统工程研究所,上海 201109
- 折叠
摘要
Abstract
Effective grasping of aerospace electrical connectors is a prerequisite for completing on-orbit assembly tasks,and the set of effective grasping points is limited by the assembly tasks.In this paper,we propose an on-orbit assembly-oriented electrical connector grasping method,which learns the grasping experience from the robot in a simulated environment,and evaluates the grasping quality by detecting the correlation between the grasping position and the assembly task during the grasping-assembly process.In addition,this paper preliminarily takes into account the effect of the electrical connector's tail-end cable on the grasping through the design of the position distribution of the grasping points.Then a grasping network is used to train the grasping point cloud collection to obtain the grasping codebook,which can generate effective grasping points on the one hand,and enhance the demonstrability of effective grasping points through the established surface contact heat map on the other hand.At the same time,this paper proposes a non-uniform normalised object coordinate space representation to establish a dense mapping relationship in 3D space to migrate the effective grasping points to the same class of instances.Simulation results show that 94.1%of the gripping point sets generated based on the method proposed in this paper are effectively used for subsequent assembly tasks.关键词
抓取/任务相关性/航天电连接器/装配/类别级Key words
grasping/task relevance/aerospace electrical connector/assembly/category level分类
信息技术与安全科学引用本文复制引用
李万琴,景海涛,方发明,马晓龙,邹怀武,黎丰..基于任务性的航天电连接器抓取方法[J].上海航天（中英文）,2024,41(4):58-66,9.
