空间机械手模型参数在轨标定方法研究

为了在轨辨识空间机械手真实模型参数,该文分析了模型参数误差来源,提出了基于遗传算法的空间机械手模型参数在轨标定方法,设计了关节变量误差和DH参数误差两组仿真数据对该方法进行验证。仿真结果表明,该方法切实可行,能够比较准确地识别出模型参数误差,有效地更新机械手运动学模型。与传统标定方法相比,基于智能优化算法的标定方法更具有广泛性。

Research on the on-orbit calibration of space manipulator model parameter

In order to on-orbit identifying the real model parameter space manipulator, error sources of model parameter are analyzed, space manipulator on-orbit calibration method based on genetic algorithm is proposed, two groups of simulation data of joint variable error and DH parameter error is designed to validate the method.The simulation results show that this method is feasible, can more accurately identify the model parameter error, update effective kinematics model of manipulator.This paper studies show that compared the traditional calibration method, calibration method based on intelligent optimization algorithm takes on universality.