| 空间绳系机器人在轨捕获视景仿真系统设计 |
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| 引用本文： | 付国强,黄攀峰,陈凯,刘正雄.空间绳系机器人在轨捕获视景仿真系统设计[J].计算机测量与控制,2009,17(12):2513-2515. |
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| 作者姓名： | 付国强 黄攀峰 陈凯 刘正雄 |
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| 作者单位： | 西北工业大学,航天学院智能机器人研究中心,陕西,西安,710072 |
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| 基金项目： | 国家自然科学基金项目，教育部新世纪优秀人才支持计划项目 |
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| 摘 要： | 针对空间绳系机器人在轨捕获可视化的问题,把绳系机器人的控制系统引入仿真环境,基于Vega平台开发了路径规划运动方式和实时接收数据运动方式相结合的空间绳系机器人在轨捕获仿真系统;利用Pro/Engineer和Creator建立了场景模型,实现了绳系在空间展开和视觉伺服效果的模拟,并对捕获过程进行了实时仿真;仿真结果表明,该系统能够直观显示控制系统的控制效果,能够成功演示空间绳系机器人对目标卫星的捕获,满足实时性要求。
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| 关 键 词： | 空间机器人 绳系机器人 在轨捕获 视景仿真 |
Design of Visual Simulation System of Space Tether-Robot On-Orbit Capture |
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| Fu Guoqiang,Huang Panfeng,Chen Kai,Liu Zhengxiong.Design of Visual Simulation System of Space Tether-Robot On-Orbit Capture[J].Computer Measurement & Control,2009,17(12):2513-2515. |
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| Authors: | Fu Guoqiang Huang Panfeng Chen Kai Liu Zhengxiong |
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| Affiliation: | (Research Center for Intelligent Robotics,College of Astronautics,Northwestern PolytechnicalUniversity,Xi’an 710072,China) |
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| Abstract: | For the visualization of space tether-robot on-orbit capture, this paper introduces the control subsystem into simulation and presents a visual simulation system based on Vega. Scene objects of this system, modeled in Pro/Engineer and Creator, are driven by planning the path and receiving data in real time sequentially. The effect of the unwound tether in the space and vision servo is simulated. Finally,simulation of on-orbit capture is demonstrated in real time. The result indicates that the proposed system can successfully visualize the control effect and the progress of the capture, and meets requirement in real time. |
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| Keywords: | semi-physical simulation binocular vision vision servo control target simulator measurement of position and attitude |
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