Fundamental Research on Autonomous Construction of Space Truss Structures by Intelligent Space Robots

针对空间桁架结构的空间机器人自动化施工，取得了以下成果.空间机器人的公式化和数值模拟程序的开发2.利用视觉信息的自主性：（1）立体视觉真实的时间位置测量系统的研制;（2）视觉反馈控制的硬件实验;（3）立体视觉的相应方法和物体定位的蛇。空间机器人的控制（1）卫星主体位姿控制的硬件实验（2）机械手操纵未知物体的自适应控制4.自主构建（1）环境约束机械臂的建模与控制5.硬件实验（1）空间机器人和桁架结构的硬件模型的建立--浮在平面平台上--位姿控制装置和三自由度SCARA型机械手--主从系统（2）部分实验验证

Concerning the automatic construction of space truss structures by space robots, the following results have been obtained.1. Formulation of the space robots and development of a numerical simulation program2. Autonomy using visual information : (1) Development of a real time position measurement system using a stereo vision (2) Hardware experiment of visual feedback control (3) Corresponding method for stereo vision and snakes for object recognition3. Control of Space Robot (1) Hardware experiment of position and attitude control of satellite main body (2) Adaptive control for unknown object handled by manipulator4. Autonomous construction (1) Modeling and control of constrained manipulator by environment5. Hardware experiment (1) Construction of hardware model of space robot and truss structure -Floating on a planar table -Position/attitude control device and 3-DOF scara type manipulator -Master-slave system (2) Some experimental verification