Space manipulator visual servo motion planning method, system, medium and equipment
The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is...
Gespeichert in:
| Hauptverfasser: | , , , , , , , , , , |
|---|---|
| Format: | Patent |
| Sprache: | chi ; eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | |
| container_start_page | |
| container_title | |
| container_volume | |
| creator | SUN HONGQIANG LIU CHUANKAI HU XIAODONG ZHANG HUI LI GUANZHE WU FAN ZOU XUEMEI ZHU CHANGMING HE XIMING XIE YUAN HAN FANG |
| description | The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is decomposed, and a plurality of target flight events including a space mechanical arm visual servo motion event are obtained; carrying out pre-planning by utilizing the available measurement and control arc section of the target space manipulator and combining the constraint of the target flight event to obtain a first planning result; and if the target on the spacecraft to which the target space manipulator belongs is influenced by light and shadow during simulation implementation of the visual servo motion event of the space manipulator, replanning is carried out in combination with the constraint of the target flight event, and a target planning result is obtained. According to the method, the influence of light |
| format | Patent |
| fullrecord | <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN117621067A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN117621067A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN117621067A3</originalsourceid><addsrcrecordid>eNqNjbEKwjAQQLM4iPoP517BKLSzFMXJpe7lMKc9SC6xlxT8exX8AKfHgwdvbrou4Y0goHAqHnMcYWIt6EFpnCKEmDkKJI8iLA8IlIfoKtCXZgrVxx2XACgO6Fk4BZK8NLM7eqXVjwuzPh2v7XlDKfak36FQ7tuLtU29s9u6Oez_ad6PtDjK</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Space manipulator visual servo motion planning method, system, medium and equipment</title><source>esp@cenet</source><creator>SUN HONGQIANG ; LIU CHUANKAI ; HU XIAODONG ; ZHANG HUI ; LI GUANZHE ; WU FAN ; ZOU XUEMEI ; ZHU CHANGMING ; HE XIMING ; XIE YUAN ; HAN FANG</creator><creatorcontrib>SUN HONGQIANG ; LIU CHUANKAI ; HU XIAODONG ; ZHANG HUI ; LI GUANZHE ; WU FAN ; ZOU XUEMEI ; ZHU CHANGMING ; HE XIMING ; XIE YUAN ; HAN FANG</creatorcontrib><description>The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is decomposed, and a plurality of target flight events including a space mechanical arm visual servo motion event are obtained; carrying out pre-planning by utilizing the available measurement and control arc section of the target space manipulator and combining the constraint of the target flight event to obtain a first planning result; and if the target on the spacecraft to which the target space manipulator belongs is influenced by light and shadow during simulation implementation of the visual servo motion event of the space manipulator, replanning is carried out in combination with the constraint of the target flight event, and a target planning result is obtained. According to the method, the influence of light</description><language>chi ; eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2024</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240301&DB=EPODOC&CC=CN&NR=117621067A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240301&DB=EPODOC&CC=CN&NR=117621067A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>SUN HONGQIANG</creatorcontrib><creatorcontrib>LIU CHUANKAI</creatorcontrib><creatorcontrib>HU XIAODONG</creatorcontrib><creatorcontrib>ZHANG HUI</creatorcontrib><creatorcontrib>LI GUANZHE</creatorcontrib><creatorcontrib>WU FAN</creatorcontrib><creatorcontrib>ZOU XUEMEI</creatorcontrib><creatorcontrib>ZHU CHANGMING</creatorcontrib><creatorcontrib>HE XIMING</creatorcontrib><creatorcontrib>XIE YUAN</creatorcontrib><creatorcontrib>HAN FANG</creatorcontrib><title>Space manipulator visual servo motion planning method, system, medium and equipment</title><description>The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is decomposed, and a plurality of target flight events including a space mechanical arm visual servo motion event are obtained; carrying out pre-planning by utilizing the available measurement and control arc section of the target space manipulator and combining the constraint of the target flight event to obtain a first planning result; and if the target on the spacecraft to which the target space manipulator belongs is influenced by light and shadow during simulation implementation of the visual servo motion event of the space manipulator, replanning is carried out in combination with the constraint of the target flight event, and a target planning result is obtained. According to the method, the influence of light</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2024</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjbEKwjAQQLM4iPoP517BKLSzFMXJpe7lMKc9SC6xlxT8exX8AKfHgwdvbrou4Y0goHAqHnMcYWIt6EFpnCKEmDkKJI8iLA8IlIfoKtCXZgrVxx2XACgO6Fk4BZK8NLM7eqXVjwuzPh2v7XlDKfak36FQ7tuLtU29s9u6Oez_ad6PtDjK</recordid><startdate>20240301</startdate><enddate>20240301</enddate><creator>SUN HONGQIANG</creator><creator>LIU CHUANKAI</creator><creator>HU XIAODONG</creator><creator>ZHANG HUI</creator><creator>LI GUANZHE</creator><creator>WU FAN</creator><creator>ZOU XUEMEI</creator><creator>ZHU CHANGMING</creator><creator>HE XIMING</creator><creator>XIE YUAN</creator><creator>HAN FANG</creator><scope>EVB</scope></search><sort><creationdate>20240301</creationdate><title>Space manipulator visual servo motion planning method, system, medium and equipment</title><author>SUN HONGQIANG ; LIU CHUANKAI ; HU XIAODONG ; ZHANG HUI ; LI GUANZHE ; WU FAN ; ZOU XUEMEI ; ZHU CHANGMING ; HE XIMING ; XIE YUAN ; HAN FANG</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN117621067A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2024</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>SUN HONGQIANG</creatorcontrib><creatorcontrib>LIU CHUANKAI</creatorcontrib><creatorcontrib>HU XIAODONG</creatorcontrib><creatorcontrib>ZHANG HUI</creatorcontrib><creatorcontrib>LI GUANZHE</creatorcontrib><creatorcontrib>WU FAN</creatorcontrib><creatorcontrib>ZOU XUEMEI</creatorcontrib><creatorcontrib>ZHU CHANGMING</creatorcontrib><creatorcontrib>HE XIMING</creatorcontrib><creatorcontrib>XIE YUAN</creatorcontrib><creatorcontrib>HAN FANG</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>SUN HONGQIANG</au><au>LIU CHUANKAI</au><au>HU XIAODONG</au><au>ZHANG HUI</au><au>LI GUANZHE</au><au>WU FAN</au><au>ZOU XUEMEI</au><au>ZHU CHANGMING</au><au>HE XIMING</au><au>XIE YUAN</au><au>HAN FANG</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Space manipulator visual servo motion planning method, system, medium and equipment</title><date>2024-03-01</date><risdate>2024</risdate><abstract>The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is decomposed, and a plurality of target flight events including a space mechanical arm visual servo motion event are obtained; carrying out pre-planning by utilizing the available measurement and control arc section of the target space manipulator and combining the constraint of the target flight event to obtain a first planning result; and if the target on the spacecraft to which the target space manipulator belongs is influenced by light and shadow during simulation implementation of the visual servo motion event of the space manipulator, replanning is carried out in combination with the constraint of the target flight event, and a target planning result is obtained. According to the method, the influence of light</abstract><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | |
| ispartof | |
| issn | |
| language | chi ; eng |
| recordid | cdi_epo_espacenet_CN117621067A |
| source | esp@cenet |
| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING |
| title | Space manipulator visual servo motion planning method, system, medium and equipment |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-04T08%3A03%3A35IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=SUN%20HONGQIANG&rft.date=2024-03-01&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN117621067A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true |