Pose Measurement for Capture of Large Satellite Docking Ring Based on Double-Line Structured Light Vision

摘要

For on-orbit servicing of large valuable satellite, docking ring is a typical and strong component, which is fit for grasping by a space robot manipulator. In this paper, a novel method for measuring the relative pose of partial docking ring is proposed by introducing double-line structured light. Firstly, the double-line structured light vision measurement model is established. The model need only partial docking ring to compute pose. Secondly, the pose determination algorithm is presented. Using the four intersection points between the double-line structured light and partial docking ring, the position and attitude of the docking ring can be uniquely determined. Finally, the mathematical simulation model is built and the measurement error factors are analyzed. The simulation results show that the measurement method is effective and feasible.