CN-121979030-A - Visual servo coordination control method and system for space continuous robot

CN121979030ACN 121979030 ACN121979030 ACN 121979030ACN-121979030-A

Abstract

The invention discloses a visual servo coordination control method and system for a space continuous robot, wherein the method comprises the following steps of S1, establishing a kinematic model from a driving rope space to a configuration space and from the configuration space to a task space based on a piecewise normal curvature method, S2, establishing a visual servo model of a relation between a target image characteristic speed and a flexible continuous robot rope speed based on the kinematic model and a camera perspective projection model, S3, establishing a system dynamics model comprising a coupling dynamics relation between the flexible continuous robot and a space base, and S4, designing a visual servo coordination controller for the space continuous robot. The invention realizes the coordination control of the flexible continuous robot and the space base on the dynamic level, thereby ensuring that the continuous robot can accurately complete the constraint visual servo task and simultaneously effectively inhibit the disturbance of the space base posture and maintain the stability of the base posture.

Inventors

Qiu Zhoujingzi
ZHANG ZICHAO
ZOU JIANXIAO

Assignees

电子科技大学
电子科技大学(深圳)高等研究院

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. The vision servo coordination control method for the space continuous robot is characterized by comprising the following steps of: S1, establishing a kinematic model from a driving rope space to a configuration space and from the configuration space to a task space based on a piecewise constant curvature method; s2, establishing a visual servo model of the relation between the characteristic speed of the target image and the rope speed of the flexible continuous robot based on the kinematic model and the perspective projection model of the camera; S3, dividing the flexible continuous robot into a plurality of micro-segments along the axial direction based on the kinematic model, calculating kinetic energy and potential energy of the flexible continuous robot and the space base, substituting the kinetic energy and potential energy into a Lagrangian equation, and establishing a system dynamics model comprising coupling dynamics relation of the flexible continuous robot and the space base; And S4, designing a space continuous robot vision servo coordination controller based on the system dynamics model and the vision servo model, wherein the coordination controller comprises a flexible continuous robot constraint vision servo dynamics controller designed based on predictive control and a base controller used for stabilizing the space base posture, and an optimization objective function of the flexible continuous robot vision servo predictive controller simultaneously comprises a target image characteristic position error and an action moment of the flexible continuous robot on the space base so as to realize constraint vision servo tasks and inhibit disturbance of continuous robot movement on the space base posture.
2. The method according to claim 1, wherein in the step S1, the change amount of the length of the driving rope is converted into the configuration space variable of the i-th flexible continuous robot based on the geometric relationship, which is: Wherein, the Is the torsion angle of the flexible continuous robot, In the form of an angle of curvature, In order to be a curvature, the curvature is, The initial length of the drive rope for the flexible continuous robot, 、、、 The length variation of the rope is driven for the flexible continuous robot, , And The radius of the proximal section and the radius of the distal section of the flexible continuous robot are respectively, Is the number of segments.
3. The spatially-continuous robot-vision-servo-coordination control method according to claim 1 or 2, wherein in the step S2, the vision-servo model is: Wherein the method comprises the steps of For the position of the target image feature point in the image plane, The first of the internal and external parameter matrixes of the camera The number of rows of the device is, For depth information of feature points of the target image, For the position of the target in three-dimensional space, As a matrix related to the forward kinematics of the continuous robot, For a depth independent image jacobian matrix, Is the length variation of the continuous robot rope, Is the rope speed of the continuous robot.
4. The method according to claim 1, wherein in the step S3, the step of establishing a system dynamics model includes: S3.1, calculating kinetic energy of the flexible continuous robot Kinetic energy of space base Elastic potential energy of flexible continuous robot ; S3.2, the kinetic energy is converted into Said kinetic energy And said elastic potential energy Substituting Lagrangian equation to establish coupling dynamics equation of flexible continuous robot and space base: wherein generalized coordinates , For the location of the spatial base centroid in the inertial coordinate system, Describing the attitude angle of the spatial base, A vector formed by the length change of the driving rope of the flexible continuous robot, Is subjected to a generalized force by a space-continuous robot system consisting of a flexible continuous robot and a space base.
5. The spatially-continuous robot-vision-servo-coordination-control method according to claim 4, wherein the dynamic model of the flexible continuous robot is expressed as: Wherein, the Representing an inertia matrix of the device, Represents the acceleration of the rope of the continuous robot, Representing the matrix of coriolis and centrifugal forces, Indicating the speed of the continuous robot rope, Representing a matrix of stiffness values, Indicating the angular acceleration of the base, Indicating the linear acceleration of the base, Represents the generalized force of the space base on the continuous robot, Represents the rope drive generalized force of a continuous robot.
6. The spatially-continuous robot-vision-servo-coordination-control method according to claim 1, wherein in the step S4, the flexible continuous robot-vision-servo-dynamics controller is designed to: Wherein the method comprises the steps of Is the control quantity of the flexible continuous robot vision servo dynamics controller, As a constant matrix, the controller considers the coupled generalized force feedforward compensation of the space base to the continuous robot, The vector is input for a continuous robot vision servo system designed based on predictive control.
7. The spatially-continuous robot-vision-servo-coordination control method of claim 6, wherein the design of the flexible continuous robot-vision-servo-prediction controller is based on the following constrained optimization problem: Wherein, the Is a control input sequence of a continuous robot vision servo prediction controller, For a desired position of the target image feature point in the image plane, To at the same time Time of day prediction The location of the image feature at the moment in time, In order to predict the time domain of the signal, In order to control the time domain of the signal, And As a matrix of weights, the weight matrix, Is the action moment of the continuous robot to the space base, In order to sample the period of time, And Respectively, the maximum value and the minimum value of the control quantity of the rope force of the continuous robot.
8. The spatially-continuous robot-vision-servo-coordination control method according to claim 1 or 4, wherein the base controller is designed by using an LQR control method, and the cost function is: Wherein the method comprises the steps of , For the angular velocity of the spatial base, Is the control amount of the LQR controller, And Is a weight matrix.
9. The vision servo coordination control method of a space continuous robot according to claim 8, wherein the control amount of the base controller is designed to be as follows, taking into account the feedforward compensation of the action moment of the flexible continuous robot on the space base: Wherein the method comprises the steps of Is that An optimal feedback gain matrix for time instant.
10. A spatially-continuous robotic vision servo-coordination control system, comprising: the kinematic modeling module is used for establishing a kinematic model from a driving rope space to a configuration space and from the configuration space to a task space based on a piecewise constant curvature method; The visual servo model building module is used for building a visual servo model of the relation between the characteristic speed of the target image and the rope speed of the flexible continuous robot based on the kinematic model and the perspective projection model of the camera; The system dynamics modeling module is used for dividing the flexible continuous robot into a plurality of micro-segments along the axial direction based on the kinematic model, calculating the kinetic energy and the potential energy of the flexible continuous robot and the space base, substituting the kinetic energy and the potential energy into a Lagrangian equation, and establishing a system dynamics model comprising the coupling dynamics relation of the flexible continuous robot and the space base; The coordination control module is used for designing a space continuous robot vision servo coordination controller based on the system dynamics model and the vision servo model, and the coordination controller comprises a flexible continuous robot constraint vision servo dynamics controller designed based on predictive control and a base controller used for stabilizing the space base posture, wherein an optimized objective function of the flexible continuous robot vision servo predictive controller simultaneously comprises a target image characteristic position error and an action torque of the flexible continuous robot on the space base so as to realize constraint vision servo tasks and inhibit disturbance of continuous robot movement on the space base posture.

Description

Visual servo coordination control method and system for space continuous robot Technical Field The invention relates to the technical field of robot control, in particular to a vision servo coordination control method and system for a space continuous robot. Background The continuous robot can flexibly operate in a narrow and complex unstructured environment by virtue of the advantages of flexibility, deformability, multiple degrees of freedom, collision energy absorption and the like, and has become one of research hotspots in the field of robots. In special task scenes such as aerospace, the continuous robot has huge application potential, and can be used for tasks such as space on-orbit target capture, satellite maintenance, narrow environment detection and the like. The vision servo technology can remarkably improve the autonomous operation and environment adaptability of the robot by introducing vision feedback, and is an important means for realizing the intellectualization of the robot. However, the current visual servo control method for space robots is mostly focused on the conventional rigid configuration space robot. For visual servo control of flexible spatially continuous robots, there are relatively few related studies. The existing flexible continuous robot control scheme often fails to comprehensively consider visual feedback, system constraint and robot body dynamics. Under the conditions of space high-speed operation and actual mechanical environment, the nonlinear dynamic effect of the system has critical influence on control precision and stability. More prominently, the flexible continuous robot has strong dynamic coupling with the attached space base, and the motion of the robot inevitably produces disturbance to the posture of the base, which affects the stability of the whole system. Therefore, the prior art lacks an effective method for carrying out coordinated control on the flexible continuous robot and the space base in the dynamics aspect, and is difficult to ensure that the flexible continuous robot can accurately complete the constraint visual servo task and simultaneously effectively inhibit the interference of the flexible continuous robot to the posture of the base so as to maintain the stable posture of the space base. This problem is a technical difficulty to be solved in the art. Disclosure of Invention In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a vision servo coordination control method of a space continuous robot, which realizes coordination control of the flexible continuous robot and a space base in a dynamic aspect, so that the continuous robot can accurately complete a constraint vision servo task, and simultaneously, disturbance of the space base posture is effectively inhibited, and the base posture is maintained stable. The second purpose of the invention is to provide a space continuous robot vision servo coordination control system, which realizes coordination control of the flexible continuous robot and the space base on the dynamics level, so that the continuous robot can accurately complete the constraint vision servo task, and simultaneously, the disturbance of the space base posture is effectively restrained, and the base posture is maintained stable. In order to achieve one of the purposes of the invention, the following scheme is adopted: a vision servo coordination control method of a space continuous robot comprises the following steps: S1, establishing a kinematic model from a driving rope space to a configuration space and from the configuration space to a task space based on a piecewise constant curvature method; s2, establishing a visual servo model of the relation between the characteristic speed of the target image and the rope speed of the flexible continuous robot based on the kinematic model and the perspective projection model of the camera; S3, dividing the flexible continuous robot into a plurality of micro-segments along the axial direction based on the kinematic model, calculating kinetic energy and potential energy of the flexible continuous robot and the space base, substituting the kinetic energy and potential energy into a Lagrangian equation, and establishing a system dynamics model comprising coupling dynamics relation of the flexible continuous robot and the space base; And S4, designing a space continuous robot vision servo coordination controller based on the system dynamics model and the vision servo model, wherein the coordination controller comprises a flexible continuous robot constraint vision servo dynamics controller designed based on predictive control and a base controller used for stabilizing the space base posture, and an optimization objective function of the flexible continuous robot vision servo predictive controller simultaneously comprises a target image characteristic position error and an action moment of the flexible continuous robot on the space base