Satellite Assembly Technology by Robot under Visual Guidance

摘要

In this paper, a way to apply vision-guided robots to satellite assembly was studied. Infrared cameras and “inflexible frame” which includes cooperative objectives had been used within the vision system to degree the goal pose. A probe tool become used to obtain convenient measurement of the target factor. Beneath the condition that the corresponding point pair of space is understood, a method for calculating the pose transformation matrix and goal pose of the robotic is given. The experimental consequences show that the measurement matching error of the corresponding hollow position is inside 2. 9mm. The method can meet the engineering implementation necessities for satellite assembly.