Design and experiment of on-orbit assembly ground simulation robot

Abstract

This paper proposes a space telescope assembly scheme and a ROS-based on-orbit assembly robot simulation system. First, the system fuses the hand-eye camera and the global camera ArUco marked image information to complete the identification and position and pose estimation of the structural parts to be assembled. Then, the pose information is transmitted to the ROS motion control node through Modbus-TCP communication, and the dual-arm robot system is controlled to complete motion planning and obstacle avoidance, arriving at the designated position for precise pick and place. After many simulation experiments of the designed space telescope model assembly scheme, it has been proved that the target object pose estimation algorithm is accurate, and the dual-arm collaborative robot has high position accuracy, which can realize the ground simulation autonomous assembly of large-scale space facilities. The system has certain practical application value with high integration, strong expansibility and good portability.