The System Research On The Space Manipulator Movement Posture By Visual Monitoring

Microgravity simulation environment is an important economic and practical way to verify the performance of the space equipment. As one of the most important methods to establish a microgravity simulation environment, the suspension method has been proved to be simulation verification of the key technologies of space equipment in China. As the passive tracking measurement technology, how to obtain the moving position of the object is always a difficult task and a hot spot in the experiment of suspension.Based on the project “The measure development system on Space manipulator movement posture on tank test system development”, focusing on the visual monitoring system which provides the two-dimensional servo system with manipulator posture monitoring data, including visual mo nitoring system hardware structures, software design and experimental methods. On the analysis of the status of domestic and foreign pose measurement method in the microgravity simulation environment, by comparing the advantages and disadvantages of each m ethod and according to technical indicators of the project we determine the overall implementation of the program, which the position monitoring system selects the monocular vision as the method. On the basis of this scheme, the necessary hardware system is selected to meet the technical specifications of the system, including industrial camera, lens, target device design, and machine vision processor. Then the software design of the system is completed based on the machine vision processor, including the process of the image processing and the communication between the upper computers, and correspondingly studies the healthy management of the software system. At the end of this paper, on the basis of the calibration experiment of the camera and the target we have done the software execution time experiment, system static repeatability precision experiment and the system dynamic measurement accuracy experiment, to the position and orientation measurement system to verify the performance of the system.