The invention is suitable for the technical field of universe aircraft parts, and provides a spatial coiled extension arm coarse adjustment and fine adjustment combined pose adjustment method, which comprises the following steps: initializing a configured pose adjustment device, calculating the current pose of a coiled extension arm according to a feature recognition matching result of a binocular camera, and adjusting the pose of the coiled extension arm according to the current pose of the coiled extension arm. Obtaining a pose deviation value of the coiled extension arm; according to the pose deviation value, an adjusting mechanism is controlled to preliminarily adjust the pose of the coiled type extension arm, so that the pose of the coiled type extension arm returns to a second pose state, the second pose state approaches to the initial pose state of the coiled type extension arm, and meanwhile, the laser generator returns to the detection area of the position sensitive detector; according to the method, the defect of insufficient accuracy of guiding and adjusting the key pose by the vision measurement result can be made up, the adverse effect of laser high-precision measurement miss can be avoided, and the pose adjustment of the specific requirement of the space telescope is more accurate and reliable.

    本发明适用于宇宙飞行器部件技术领域,提供了一种空间盘绕式伸展臂粗调与精调相结合的位姿调整方法,所述方法包括:对已配置好的位姿调整装置进行初始化,根据双目相机进行特征识别匹配的结果解算出盘绕式伸展臂的当前位姿,得到盘绕式伸展臂的位姿偏移值;根据所述位姿偏移值控制调整机构进行盘绕式伸展臂位姿的初步调整,使盘绕式伸展臂位姿回到第二位姿状态,该第二位姿状态趋近于盘绕式伸展臂的初始位姿状态,同时,使激光发生器回到位置敏感探测器的探测区域内;本发明既可以弥补视觉测量结果指导调整关键位姿精度不足的缺陷,又可以避免激光高精测量脱靶的不利影响,使完成空间望远镜特定要求的位姿调整更为精确与可靠。


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    Title :

    Pose adjusting method combining coarse adjustment and fine adjustment of space coiling type extension arm


    Additional title:

    一种空间盘绕式伸展臂粗调与精调相结合的位姿调整方法


    Contributors:
    SUN LIANG (author) / LIU JIAHAO (author) / ZHAO XURUI (author) / ZHAO ZELIN (author) / LIU YU (author) / HUANG HAI (author) / ZHAO GUOWEI (author)

    Publication date :

    2024-05-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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