Micro-displacement Measurement System for Hexapod Robot Drilling Process

摘要

The hexapod robot drills into lunar soil to understand and explore the moon under different working conditions, such as flat ground and slope. With the vibration brought by the drilling process, we have found that the hexapod has been slightly moved(millimeter level), which causes the hexapod robot to sink into the lunar soil. Thus, we propose target punctuation template matching measure the above minor displacement, which further apply force to push into the hexapod robot in the soil. Specifically, a well-designed target punctuation is applied as target punctuation to clamp onto the foot plate of a hexapod robot, which directly replaces the minor displacement of the hexapod robot. Then, we propose the template matching method to capture the motion of target punctuation based on the spatial position relationship of prior target punctuation. Extensive experiments demonstrate the effectiveness of the proposed method. We use the measurement results of a grating ruler and a laser tracker as the ground-truth to further verify the accuracy and repeatability of the proposed method.