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提出了一种应用于卫星在轨自维护平台的视觉自主操作策略,阐述了标定、识别、定位及视觉伺服等关键内容。针对太空中变化强烈的光照环境,采用合作目标的方式对物体进行识别,并对识别算法进行了特别的设计以适用于卫星有限的计算能力。为了提高合作目标三维空间定位的精度,采用了一种合作目标亚像素精度定位的方法,为视觉伺服进行精确的操作奠定了基础。实验结果证明了此视觉自主操作策略的可行性。 相似文献
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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots 总被引:1,自引:0,他引:1
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic
relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping
method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control
technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that
is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the
backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity
of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot.
Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance
control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully
as depicted theoretically. 相似文献
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为实现卫星自维护遥操作系统中稳定可靠的视频反馈目标,提出一种基于分层码率控制的视频传输策略.利用实时探测到的带宽选择不同码率的视频流分层,使得视频传输对于不同的网络带宽具有自适应性.试验结果表明,该策略能够在波动带宽下给予遥操作者稳定流畅的视频反馈,有效地提高了遥操作系统的视觉临场感性能. 相似文献
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面向空间机械臂操作任务的模仿学习策略 总被引:1,自引:0,他引:1
为提高空间机械臂克服空间扰动的能力,降低关节力矩波动和能量消耗,提出了一种基于动力学约束的空间机械臂模仿学习策略.该策略分为两个阶段:第一阶段为基于高斯过程的模仿学习,利用运动学实例,采用高斯过程算法建立当前任务的运动模型,再根据当前环境,通过运动模型生成当前任务的期望轨迹分布.第二阶段为基于动力学约束的控制器设计,该控制器以第一阶段输出的期望轨迹分布为输入,以关节期望力矩为输出,在保证轨迹符合任务要求的同时,生成更加平滑的关节控制力矩.采用该模仿学习策略,用天宫二号空间机械臂在轨操控电动工具来定位螺钉,实验验证了该模仿学习策略的有效性.实验结果表明,与传统模仿学习加计算力矩控制的策略相比,采用基于动力学约束的空间机械臂模仿学习策略,机械臂的大负载关节力矩波动的峰-峰值可减少45%,波峰数可减少40%,能耗可减少31%,且关节力矩、加速度和速度更加平滑.该策略不仅克服了环境位置变化的不利因素,而且还降低了关节的力矩波动和能量消耗,提高了空间机械臂运行的平滑性,对高性能空间机械臂的在轨服务应用具有重要意义. 相似文献
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