Pose Measurement for Capture of Large Satellite Docking Ring Based on Double-Line Structured Light Vision

DOI

10.2991/msmee-17.2017.248How to use a DOI?

Keywords

Pose measurement, Partial docking ring, Double-line structured light, Non-cooperative target, Space intelligent robot

Abstract

For on-orbit servicing of large valuable satellite, docking ring is a typical and strong component, which is fit for grasping by a space robot manipulator. In this paper, a novel method for measuring the relative pose of partial docking ring is proposed by introducing double-line structured light. Firstly, the double-line structured light vision measurement model is established. The model need only partial docking ring to compute pose. Secondly, the pose determination algorithm is presented. Using the four intersection points between the double-line structured light and partial docking ring, the position and attitude of the docking ring can be uniquely determined. Finally, the mathematical simulation model is built and the measurement error factors are analyzed. The simulation results show that the measurement method is effective and feasible.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jun Yang
AU  - Xuehai Gao
AU  - Zhiheng Li
AU  - Shunzhi Li
AU  - Bin Liang
PY  - 2017/05
DA  - 2017/05
TI  - Pose Measurement for Capture of Large Satellite Docking Ring Based on Double-Line Structured Light Vision
BT  - Proceedings of the 2017 2nd International Conference on Materials Science, Machinery and Energy Engineering (MSMEE 2017)
PB  - Atlantis Press
SP  - 1336
EP  - 1345
SN  - 2352-5401
UR  - https://doi.org/10.2991/msmee-17.2017.248
DO  - 10.2991/msmee-17.2017.248
ID  - Yang2017/05
ER  -