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针对在地面很难对空间机器人目标捕获过程进行微重力环境下的真实实验问题,建立了半物理仿真系统,以对图像处理、路径规划以及控制等关键算法进行验证.该系统的关键在于将“虚拟环境”与“真实环境”结合起来,利用真实视觉对虚拟环境进行3D重构,以计算目标的相对位置和姿态,实现对视觉伺服控制的闭环仿真.从理论上推导了半物理仿真的原理,并提出了等效投影模型的标定方法.仿真结果表明了该方法的有效性.
In order to solve the problem of real experiments in the micro-gravity environment, it is very difficult to simulate the target acquisition process of space robot on the ground, and a semi-physical simulation system is established to verify the key algorithms such as image processing, path planning and control, “Virtual Environment” and “Real Environment” are combined to reconstruct the virtual environment by using the real vision to calculate the relative position and attitude of the target so as to realize the closed-loop simulation of the visual servoing control.Finally, The principle of physical simulation and the calibration method of equivalent projection model are proposed.The simulation results show the effectiveness of this method.