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

关于空间机器人对空间桁架结构的自动施工，得到了以下结果：空间机器人的编制与数值模拟程序的研制基于视觉信息的自主性：(1)基于立体视觉的实时位置测量系统的开发(2)视觉反馈控制的硬件实验(3)立体视觉与蛇形物体识别的对应方法空间机器人控制(1)卫星主体位置姿态控制硬件实验(2)机械臂处理未知目标的自适应控制(1)环境约束机械臂的建模与控制硬件实验(1)空间机器人和桁架结构的硬件模型构建-平面漂浮-位置/姿态控制装置和三自由度scartype机械手-主从系统(2)一些实验验证

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