Configuration reconstruction and all-joint synchronous measurement based on vision for segmented linkage manipulator of rigid-flexible dual-arm space robot

Abstract

A rigid-flexible dual-arm space robot offers promising potential for on-orbit operation due to complementary strengths of its rigid and flexible manipulators. The rigid manipulator has the advantage of large payload capacity and high motion accuracy. The segmented linkage flexible manipulator is ideal for maneuvering in narrow, unstructured environments like internal satellite inspections and maintenance, due to its flexibility and slender body. However, there are inevitable tracking errors due to the multiple cable-driven mechanisms in the flexible manipulator. It’s difficult to get the configuration and end pose of flexible manipulator without adding external sensors. To address these issues, this paper presents a method for configuration reconstruction and all-joint synchronous measurement of the flexible manipulator. The flexible manipulator is captured by the stereovision system mounted on the rigid manipulator. The links’ equivalent center points are recognized by central moment method and edge line extraction method based on the natural characteristics. Joint-to-link kinematic model of flexible manipulator is established to measure joint angles and reconstruct configuration. Several simulations and experiments are carried out to validate the proposed method. The experimental results showed links’ average measurement position errors were less than 13 mm and joint angles reconstructed using the proposed method had an error of approximately 0.35°. These results demonstrate the accuracy and robustness of the proposed method.