The Measure Development Sysment On Space Manipulator Movement Posture On Tank

With the continuous exploration of the space of the universe, the application of space robot arm is more and more extensive. Simulation test requires a zero gravity state space of Manipulator Simulation, the actual in the ground experiment manipulator have a downward gravity, zero gravity simulation requires the gravity to completely eliminate. Sling suspension is usually used in mechanical arm, and with the movement of the manipulator, can not guarantee sling always vertical downward, so it is necessary to the lifting ropes plumb gives a precise determination, this subject designed a set based on monocular vision pose measurement system of suspension arm sling state for accurate determination.Firstly, the overall scheme of the system is designed, including measurement principle modeling, system hardware composition, software algorithm selection.Because of the need of the sling state effective real-time measurement in the actual experiment, which makes the hardware requirements are relatively high, here we select is the United States military real-time hardware equipment Ni embedded EVS-1463 visual system, it has stable real-time characteristics. In addition, the possible failure mode of the system is estimated, and the corresponding processing method is put forward.Secondly, the principle of monocular vision measurement is modeled. Among them, the image feature point extraction method using dual threshold method; pose solution algorithm is firstly established target in the camera coordinate system of coordinate measuring model, and take camera coordinate system and the target coordinate system between the rotation and translation matrix relations, so as to obtain the position and attitude measurement results, based on, through the simulation experiment verification the correctness of the algorithm.Then, carry on the design to the system hardware and software structure and functions of software includes the data interface between the camera and EVs, EVs between the host computer and the design; design of each function module,including the function design of the modular design of the main program and sub module; for the very good realization of human-computer interaction, design the simple human-machine interface, including data display, storage and control the function instruction. Hardware of the system hardware design, mainly consists of camera installed in the shell body of the design, ensure the fine structure of camera and with two-dimensional with connecting and positioning structure system; in addition, given target of mechanical connection and installation structure, power supply circuit of the target design.Finally, the system experiment is carried out. Test and measurement accuracy of the system repeatability.