CAJ | 학술논문

视觉系统是空间机械臂的重要组成部分，空间机械臂除开环控制外的所有工作模式都不能离开视觉系统的引导和辅助而独立实现。文章以建立满足空间机械臂实际应用需求的视觉系统为目标，提出通过分布在不同空间位置的多个相机的协同工作扩展并增强视觉系统的监视和测量能力，并从系统组成、工作模式、测量方式等多方面完成空间机械臂视觉系统方案设计。仿真试验结果表明，目标三维位姿的测量误差与视觉标记点检测结果的误差近似成线性关系，视觉标记点检测的准确性对目标位姿测量的精度具有重要影响。室内环境试验结果表明，在视觉系统的引导下机械臂能够自主完成对目标的定位和捕获，视觉系统满足空间机械臂大范围运动和精准操作任务的应用需求。
시각계통시공간궤계비적중요조성부분，공간궤계비제개배공제외적소유공작모식도불능리개시각계통적인도화보조이독립실현。문장이건립만족공간궤계비실제응용수구적시각계통위목표，제출통과분포재불동공간위치적다개상궤적협동공작확전병증강시각계통적감시화측량능력，병종계통조성、공작모식、측량방식등다방면완성공간궤계비시각계통방안설계。방진시험결과표명，목표삼유위자적측량오차여시각표기점검측결과적오차근사성선성관계，시각표기점검측적준학성대목표위자측량적정도구유중요영향。실내배경시험결과표명，재시각계통적인도하궤계비능구자주완성대목표적정위화포획，시각계통만족공간궤계비대범위운동화정준조작임무적응용수구。
Space manipulator is an essential tool for space mission. Vision system is the key part of a space manipulator system, and the normal operation of a space manipulator heavily depends on the guidance and assistance of a vision system except for open-loop control. In this paper, we describe a vision system which meets the practical needs of a space manipulator system. This vision system, which consists of multiple cam-eras located at different positions in space, uses a multi-camera collaboration technique to extend and enhance its capability of the visual surveillance and measurement. The paper focuses on some key aspects of the vision system design including system configuration, operation mode and measurement method. The experiments conducted in a simulation environment show that the measurement error of target 3D pose is approximately linearly proportional to the detection error of visual dots on target, and the detection accuracy of visual dots has great effect on the target pose measurement accuracy. The experiments conducted indoor environment demon-strate that the manipulator is able to locate and capture the target autonomously under the guide of the vision system, which can satisfy the needs of a manipulator for large range movement and precise operation.