Research on on orbit calibration method of kinematic parameters of space manipulator

Weihua Zhi; Qiang Jiang

doi:10.1117/12.2671233

28 April 2023 Research on on orbit calibration method of kinematic parameters of space manipulator

Weihua Zhi, Qiang Jiang

Proceedings Volume 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022); 1261010 (2023) https://doi.org/10.1117/12.2671233
Event: Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 2022, Wuhan, China

Abstract

Aiming at the disadvantage of space manipulator under the working condition of large load and high precision positioning, such as the real kinematic parameters of space manipulator do not match the kinematic parameters of theoretical design, a method for on-orbit calibration of space six-axle manipulator is put forward. Based on this method, a kinematic calibration model is established, kinematic modeling and parameter identification analysis of the manipulator are completed, and accurate kinematic parameters can be obtained. Then the accurate end position and attitude are calculated, and calibration experiments are carried out. After the kinematic self-calibration experiment, After the kinematic self-calibration experiment, the pose accuracy of the end of the space manipulator is significantly improved at 60 test poses, which verifies the effectiveness of the proposed method. The experimental results show that the calibration method of space arm motion parameters proposed in this paper is correct, the physical meaning of the calibration model is clear, and the position and attitude positioning accuracy of the end of the arm is guaranteed.

Citation Download Citation

Weihua Zhi and Qiang Jiang "Research on on orbit calibration method of kinematic parameters of space manipulator", Proc. SPIE 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 1261010 (28 April 2023); https://doi.org/10.1117/12.2671233

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