TY - GEN
T1 - A Configuration Measurement Method of Cable-Driven Space Manipulator by Link Equivalent Center Points Recognition
AU - Wang, Fengxu
AU - Yan, Lei
AU - Li, Junxiang
AU - Lin, Boyang
AU - Xu, Wenfu
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - A cable-driven space manipulator has great application potential in space operations due to its advantages of flexible movement and slender body. However, the pose accuracy of its end-effector is worse than that of traditional space manipulators because it's difficult to measure the joint angles. The lack of shape information will increase the risk of colliding with others. However, the method of measuring configuration by adding cooperative markers on its body is complex and not suitable in space. To solve the above problems, this paper proposes a method of configuration measurement for the natural characteristics. This method solves the links' equivalent center points observed by the stereovision instead of adding cooperative markers. The kinematics model is derived to reconstruct the shape of the manipulator. The center points of links identification and kinematics modeling adopt the series-by-segment solution to greatly improve the computational efficiency and avoid the multiply solutions of redundant manipulators' inverse kinematics. A simulation system for configuration measurement of cable-driven space manipulator is established, and the above methods is verified by simulation and experiment. The simulation and experimental results show that the proposed method has high accuracy.
AB - A cable-driven space manipulator has great application potential in space operations due to its advantages of flexible movement and slender body. However, the pose accuracy of its end-effector is worse than that of traditional space manipulators because it's difficult to measure the joint angles. The lack of shape information will increase the risk of colliding with others. However, the method of measuring configuration by adding cooperative markers on its body is complex and not suitable in space. To solve the above problems, this paper proposes a method of configuration measurement for the natural characteristics. This method solves the links' equivalent center points observed by the stereovision instead of adding cooperative markers. The kinematics model is derived to reconstruct the shape of the manipulator. The center points of links identification and kinematics modeling adopt the series-by-segment solution to greatly improve the computational efficiency and avoid the multiply solutions of redundant manipulators' inverse kinematics. A simulation system for configuration measurement of cable-driven space manipulator is established, and the above methods is verified by simulation and experiment. The simulation and experimental results show that the proposed method has high accuracy.
KW - Cable-Driven Space Manipulator
KW - Equivalent Center Points
KW - Kinematics Modeling
KW - Shape reconstruction
KW - Stereo Vision
UR - https://www.scopus.com/pages/publications/85147332611
U2 - 10.1109/ROBIO55434.2022.10011872
DO - 10.1109/ROBIO55434.2022.10011872
M3 - 会议稿件
AN - SCOPUS:85147332611
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 999
EP - 1004
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -